| [电动汽车稳定性控制]异质队列的分布式鲁棒解耦控制 |
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| 引用本文： | 高锋,王晓彤.[电动汽车稳定性控制]异质队列的分布式鲁棒解耦控制[J].中国机械工程,2018,29(15):1802. |
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| 作者姓名： | 高锋 王晓彤 |
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| 作者单位： | 重庆大学汽车工程学院，重庆，400044 |
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| 基金项目： | 国家重点研发计划资助项目（2016YFB0101104，2016YFB0100900，2017YFB0102504）；
重庆市科技计划资助项目（cstc2015zdcy-ztzx60002，cstc2015zdcy-ztzx60005） |
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| 摘 要： |
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| 关 键 词： | 队列 鲁棒控制 动力学解耦 队列稳定性 |
Distributed Decoupled Robust Control of Heterogeneous Vehicular Platoon |
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| GAO Feng,WANG Xiaotong.Distributed Decoupled Robust Control of Heterogeneous Vehicular Platoon[J].China Mechanical Engineering,2018,29(15):1802. |
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| Authors: | GAO Feng WANG Xiaotong |
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| Affiliation: | School of Automotive Engineering，Chongqing University，Chongqing，400044 |
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| Abstract: | Based on the distributed control structure and interaction topology modeled by graph theory， a decoupled robust control strategy was presented for a heterogeneous vehicular platoon to deal with the uncertainties of node dynamics. The dynamical behavior of node composed of vehicle dynamics and a lower-level controller was assumed to be covered by a multiplicative uncertainty model. Then to decouple the platoon system， which was skillfully decomposed into a H∞ norm bounded uncertain part and a diagonal system by applying linear transformation and eigenvalue decomposition on communication topology. The requirements of robust stability， tracking ability and vehicular platoon stability were analyzed theoretically. Comparative bench tests with a non-robust controller and different communication topologies were conducted to demonstrate its robust stability， tracking ability and vehicular platoon. |
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| Keywords: | vehicular platoon robust control dynamics decoupling vehicular platoon stability |
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