Robust Distributed Control Protocols for Large Vehicular Platoons With Prescribed Transient and Steady-State Performance

被引：103

作者：

Verginis, Christos K. ^{[1
,2
]}

Bechlioulis, Charalampos P. ^{[3
]}

Dimarogonas, Dimos V. ^{[1
,2
]}

Kyriakopoulos, Kostas J. ^{[3
]}

机构：

[1] Ctr Autonomous Syst, S-10044 Stockholm, Sweden

[2] Kungliga Tekn Hogskolan, S-10044 Stockholm, Sweden

[3] Natl Tech Univ Athens, Sch Mech Engn, Control Syst Lab, Athens 15780, Greece

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2018年 / 26卷 / 01期

基金：

瑞典研究理事会;

关键词：

Platoon; Prescribed Performance; Robustness; STRING STABILITY; VEHICLES; SYSTEMS; RANGE;

D O I：

10.1109/TCST.2017.2658180

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this brief, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully distributed in the sense that each vehicle utilizes feedback from its relative position with respect to its preceding and following vehicles as well as its own velocity, which can all be easily acquired by onboard sensors. Moreover, no previous knowledge of model nonlinearities/disturbances is incorporated in the control design, enhancing in that way the robustness of the overall closed-loop system against model imperfections. Additionally, certain designer-specified performance functions determine the transient and steady-state response, thus preventing connectivity breaks due to sensor limitations as well as intervehicular collisions. Finally, extensive simulation studies and a real-time experiment conducted with mobile robots clarify the proposed control protocols and verify their effectiveness.

引用

页码：299 / 304

页数：6

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