基于迟滞鲁棒性的自动车队队列稳定性控制

基于车辆纵向迟滞动态模型,对自动车队队列稳定性以及控制方法进行分析研究.建立考虑迟滞因素的车辆纵向迟滞动态模型,在此模型的基础上建立基于固定时间间距策略的滑模控制器和比例积分微分(PID,Proportion Integration Differentiation)控制器,然后依据队列稳定性判断准则分别对两种控制器进行队列稳定性分析并分别得到相关的队列稳定性条件.定量比较分析和仿真比较分析结果显示,PID控制器具有更强的迟滞鲁棒性.

Lag-delay robust string stable control of platoon of automated vehicles

Based on the vehicle longitudinal lag-delay dynamics model, the string stability and the control strategies for the automated platoon of vehicles were analyzed and studied. The vehicle longitudinal lag-delay dynamics model was built under consideration of the time delay and time lag. The sliding model controller and proportion integration differentiation(PID) controller were proposed based on the constant time headway policy. Then, the analysis of string stability for the two controllers were conducted based on the string stable policy and the related string stable conditions were obtained. The comparative quantitative analysis and simulations- analysis demonstrates that the PID controller is more robust against the time delay and time lag.