具有随机干扰的时滞车辆跟随控制

施继忠; 宋乾坤; 张继业; 徐晓惠

doi:10.3879/j.issn.1000-0887.2014.10.006

具有随机干扰的时滞车辆跟随控制

doi: 10.3879/j.issn.1000-0887.2014.10.006

¹浙江师范大学工学院, 浙江金华 321004;²重庆交通大学理学院, 重庆 400074;³牵引动力国家重点实验室(西南交通大学), 成都 610031;⁴西华大学交通与汽车工程学院, 成都 610039

基金项目: 国家自然科学基金(11161013；11361017); 广西自然科学基金(2014GXNSFBA118007); 广西高等学校优秀中青年骨干教师培养工程

详细信息

作者简介:
施继忠(1977—), 男, 讲师, 博士(E-mail: shijizhong@zjnu.cn);宋乾坤(1963—), 男, 教授, 博士(通讯作者. E-mail: qiankunsong@163.com);张继业(1965—), 男, 教授, 博士(E-mail: jyzhang@home.swjtu.edu.cn);徐晓惠(1982—), 女, 讲师, 博士(E-mail: xhxu@163.com).

中图分类号: TP273
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出版历程
- 收稿日期: 2014-04-27
- 修回日期: 2014-08-23
- 刊出日期: 2014-10-15

Control of Time-Delay Vehicle Following Systems With Random Factors

¹College of Engineering, Zhejiang Normal University, Jinhua, Zhejiang 321004, P.R.China;²School of Science, Chongqing Jiaotong University, Chongqing 400074, P.R.China;³State Key Laboratory of Traction Power(Southwest Jiaotong University), Chengdu 610031, P.R.China;⁴School of Transportation and Automotive Engineering, Xihua University, Chengdu 610039, P.R.China

Funds: The National Natural Science Foundation of China(11161013；11361017)

摘要

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.
- 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.
- intelligent transportation /
- stochastic vehicle following system /
- vector Lyapunov function /
- time delay /
- sliding mode control

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参考文献(15)

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