计算机工程与应用2024，Vol.60Issue(20)：320-327,8.DOI:10.3778/j.issn.1002-8331.2306-0258
基于扰动观测器的固定时间车辆编队控制
Fixed-Time Based on Perturbation Observer Vehicle Formation Control
摘要
Abstract
Considering the influence of external natural environment and internal model parameter uncertainty on intelli-gent unmanned vehicles during actual driving,which weakens the control effect on vehicle formation systems,a forma-tion control algorithm with disturbance observer is proposed.Firstly,vehicle dynamics and kinematics models are used for modeling,and disturbance observer is introduced to enable the system to accurately identify the composite distur-bance.Secondly,the fixed-time theory is used to design the controller for the following vehicle,and the Lyapunov stability theory is used to prove that both controllers can converge within a fixed-time range.Furthermore,it is demonstrated that the entire vehicle formation control system can converge within a fixed-time range.Finally,the effectiveness of the pro-posed disturbance observer based fixed-time vehicle formation controller is verified through simulation.The simulation results show that the proposed controller can converge the vehicle formation quickly within a fixed-time,and the system convergence time is independent of the initial state of the system.关键词
车辆编队/协同控制/固定时间/编队控制/领航跟随法Key words
vehicle formation/cooperative control/fixed-time/formation control/leader-follower分类
信息技术与安全科学引用本文复制引用
张意豪,叶洪涛,罗文广,文家燕..基于扰动观测器的固定时间车辆编队控制[J].计算机工程与应用,2024,60(20):320-327,8.基金项目
国家自然科学基金(61963006) （61963006）
广西自动检测技术与仪器重点实验室开放基金(YQ20208) （YQ20208）
2020年广西汽车零部件与整车技术重点实验室自主研究课题(2020GKLACVTZZ01) （2020GKLACVTZZ01）
广东省基础与应用基础研究项目(2021B151542003). （2021B151542003）
