通讯网络影响下自主车队的控制

摘要

对通信网络影响下自主式车队的控制，建立了车队通讯网络诱导因素影响下的混合车队控制模型，这模型充分考虑了车队与通讯网络诱导因素（如：量化、延时与丢包），在很大程度上完善了现有的车队控制系统模型．在该模型基础上设计可以解决车队通讯网络影响的保性能控制算法，并进一步设计克服领队车辆干扰的控制器．仿真试验表明，本文获得的控制方法不但可实现车队的稳定运行控制，而且使车队控制效果大大改善．%For the autonomous platoon control via wireless communication network, we develop a novel hybrid model by fully considering the induced constraints from the communication networks, such as time-delay, quantization and packet- dropout. This scheme greatly improves the existing models for autonomous platoon control. On the basis of this model, we can design a guaranteed-cost control for the autonomous platoon under the induced constraints from communication networks. An H-infinity controller is further designed to reduce the effect from the leading vehicle. Simulation results show that the proposed method provides the platoon a smooth operation, while greatly improves the efficiency of platoon control.