网联车辆有限时间分布式轨迹优化和协同控制

提出一种基于分层控制框架的网联车辆有限时间轨迹优化和协同控制方法.首先,在上层,为了最小化车辆间的间距误差,采用有限时间分布式优化算法构造车辆参考模型,产生最优轨迹信号;在下层,设计基于终端滑模的跟踪控制器使得车辆在有限时间内跟踪最优轨迹信号,并克服扰动等不确定因素的影响.然后,通过李雅普诺夫分析,严格验证控制系统的稳定性.最后,通过数值仿真结果表明了所提出方法的有效性.

Finite-time distributed trajectory optimization and collaborative control of connected vehicle platoon

This paper proposes a finite-time trajectory optimization and coordinated control method for connected vehicles based on a hierarchical control framework. In the upper layer, a finite-time distributed optimization algorithm is used to construct a vehicle reference model to generate optimal trajectory signals for minimizing the spacing errors between vehicles. In the lower layer, a terminal sliding mode tracking controller is designed to enable vehicles to track the optimal trajectory signal within a finite-time while overcoming the impact of disturbances and other uncertain factors. The stability of the control system is rigorously proven through Lyapunov analysis. Finally, numerical simulation results show the effectiveness of the proposed method.