Control of Time-Delay Vehicle Following Systems With Random Factors
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摘要: 考虑信息传输和车辆动力学行为对控制指令具有时间滞后因素和车辆动力学系统建模中忽略的随机因素, 建立了一类具有时间滞后的随机车辆跟随系统,并研究了该系统的稳定性和控制器设计.根据Ito(伊藤)随机微分方程建立随机车辆动力学模型.利用滑模控制设计了系统的控制策略, 并运用系统的稳定性判据得到了系统控制参数的收敛区域.数值仿真试验结果表明: 各跟随车辆的加速度、速度和位移等状态能在较短的时间内迫近领头车辆; 各车辆的车间距误差有较快的收敛速度, 均能在10 s内收敛于0.
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关键词:
- 智能交通 /
- 随机车辆跟随系统 /
- 矢量Lyapunov函数 /
- 时间滞后 /
- 滑模控制
Abstract: The time delays due to information transmission and vehicle dynamic response falling behind control instruction, and the random factors in vehicle dynamic system modeling were considered to build a time-delay stochastic vehicle following system. The stability and controller design of the system was studied. The stochastic dynamic model of the vehicle was built on the base of Ito stochastic differential equation. The controller for the system was designed with the sliding mode control method. According to the system stability criterion, the convergence region of the system control parameters was obtained. The numerical simulation results show that, in the proposed system, the acceleration, velocity and displacement of the following vehicles respectively approach the corresponding indices of the leading vehicle in a short time; the vehicle spacing error of the system converges pretty fast, returning to 0 within only 10 seconds. -
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