| 基于Lyapunov函数方法的时滞车辆纵向跟随控制 |
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| 引用本文： | 任殿波,张继业.基于Lyapunov函数方法的时滞车辆纵向跟随控制[J].控制与决策,2007,22(8):918-921. |
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| 作者姓名： | 任殿波 张继业 |
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| 作者单位： | 1. 西南交通大学,牵引动力国家重点实验室,成都,610031;西南交通大学,CAD工程中心,成都,610031
2. 西南交通大学,牵引动力国家重点实验室,成都,610031 |
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| 基金项目： | 新世纪优秀人才支持计划项目（NCET-04-0889）;四川省青年科技基金项目（05ZQ026-015）. |
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| 摘 要： | 应用向量Lyapunov函数方法和比较原理，基于非线性车辆动态耦合模型，研究具有时间滞后的车辆跟随系统的指数稳定性问题，得到了车辆跟随系统的指数稳定性判据．根据滑模控制策略确定了车辆跟随系统的纵向控制规律，基于稳定性准则设计了车辆纵向跟随控制器参数．仿真结果表明，基于该方法设计的车辆纵向跟随控制器能使跟踪误差具有较快的收敛率．
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| 关 键 词： | 智能交通系统 自动车辆跟随系统 控制 向量Lyapunov函数方法 时间滞后 |
| 文章编号： | 1001-0920（2007）08-0918-04 |
| 收稿时间： | 2006/5/21 0:00:00 |
| 修稿时间： | 2006-05-212006-12-22 |
Lyapunov function approach to longitudinal following control of vehicles in platoon with delays |
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| REN Dian-bo,ZHANG Ji-ye.Lyapunov function approach to longitudinal following control of vehicles in platoon with delays[J].Control and Decision,2007,22(8):918-921. |
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| Authors: | REN Dian-bo ZHANG Ji-ye |
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| Affiliation: | 1. State Key Laboratory of Traction Power; 2. CAD Engineering Center, Southwest Jiaotong University, Chengdu 610031, China |
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| Abstract: | By using the vector Lyapunov function and comparison method, based on the nonlinear dynamically coupled model of string of vehicles, the exponential stability of vehicle following systems with delays is studied. The new stability sufficient condition is obtained. Based on the new results for the exponential stability of string of vehicle, applying sliding mode control method, the longitudinal control laws for each vehicle in the platoon are obtained and the longitudinal following controllers are designed. The simulation result shows that the convergence rates of spacing errors and velocity errors of the vehicle platoon are fast by using the controller. |
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| Keywords: | Intelligent transportation system Automated vehicle following system Control Vector Lyapunov function method Time delays |
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