考虑执行器时滞不确定的车辆编队网联巡航鲁棒模型预测控制

Connected Cruise Control of a Vehicle Platoon with Uncertain Actuator Delays Based on Robust Model Predictive Control Method

摘要:

针对车辆编队中执行器时滞的不确定性，提出了一种基于鲁棒模型预测控制的新的车辆编队网联巡航控制方法。该方法能够实时处理编队安全约束，并兼顾车辆编队的弦稳定性与对执行器时滞的鲁棒性。首先，建立车辆编队的数学模型与网联巡航模型预测控制的控制架构，分析无约束条件下网联巡航模型预测控制的线性反馈特性。其次，基于H∞控制分析网联巡航线性系统对执行器时滞不确定的鲁棒性，得到车辆编队L2弦稳定性的实现条件。然后，通过控制器参数匹配，根据满足编队稳定性、鲁棒性要求的线性反馈参数对模型预测控制器的优化权重进行调整。通过不同执行器时滞的车辆编队系统仿真，结果表明，本文提出的控制方法简化了工程应用中相应的控制器参数匹配工作，进一步提高了车辆编队网联巡航控制系统的功能稳定性与安全性。

Abstract:

Considering the uncertainties of actuator delays in a vehicle platoon， a novel connected cruise control based on robust model predictive control method is proposed. The approach deals with the safety constraints in transients， and accommodates vehicle platoons string stability and robustness against uncertain actuator delays. The mathematical model of a connected vehicle platoon is established and its control architecture for platoon cruising is proposed. Then， the linear feedback characteristics of model predictive control （MPC） under unconstrained conditions are analyzed. Adopting H∞ control method， the robustness to the uncertainties of actuator delays is analyzed， and the realization conditions of L2 string stability are obtained. Finally， a controller matching approach is applied to tune the weight matrix of MPC according to the linear feedback law obtained. The simulation results show that the proposed control method simplifies the controller matching in engineering applications and further improves the functional stability and safety of the connected cruise control for vehicle platoon.