引用本文:李擎,孙鹏,郭祥贵.基于非线性干扰观测器和类故障模型的车辆队列预设时间容错滑模控制[J].控制理论与应用,2025,42(8):1659~1668.[点击复制]
LI Qing,SUN Peng,GUO Xiang-gui.Preset-time fault-tolerant sliding-mode control of vehicular platoon based on nonlinear disturbance observer and fault-like model[J].Control Theory & Applications,2025,42(8):1659~1668.[点击复制]
基于非线性干扰观测器和类故障模型的车辆队列预设时间容错滑模控制
Preset-time fault-tolerant sliding-mode control of vehicular platoon based on nonlinear disturbance observer and fault-like model
摘要点击 3024  全文点击 192  投稿时间：2023-10-08  修订日期：2025-03-27
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DOI编号  10.7641/CTA.2024.30665
  2025,42(8):1659-1668
中文关键词  类故障模型  非线性干扰观测器  预设时间控制  滑模控制  未知故障方向  车辆队列
英文关键词  fault-like model  nonlinear disturbance observer  prescribed-time control  sliding-mode control  unknown fault direction  vehicular platoon
基金项目  雄安新区科技创新专项(2023XAGG0062),国家自然科学基金项目(62173028,62233015,62273033),广东省基础与应用基础研究基金项目(2024 A1515011493), 北京自然科学基金项目(4232060,IS23065), 科技部高端外国专家引进计划项目(G2022105026L,G2022105022L)资助.
作者单位E-mail
李擎 北京科技大学自动化学院北京市工业波谱成像工程技术研究中心 liqing@ies.ustb.edu.cn 
孙鹏 北京科技大学自动化学院北京市工业波谱成像工程技术研究中心  
郭祥贵* 北京科技大学自动化学院北京市工业波谱成像工程技术研究中心 guoxianggui@ustb.edu.cn 
中文摘要
      针对车辆队列控制中存在的执行器死区、信号量化、非线性模型不确定性、未知外部干扰和执行器故障方 向时变未知等问题,本文提出了一种基于类故障模型和非线性干扰观测器(NDO)的预设时间容错滑模控制(SMC) 策略.将量化和死区模型转化为类故障模型,简化了控制器的设计.采用Nussbaum型函数解决了执行器故障方向未 知问题.通过引入非线性干扰观测器准确地估计包括非线性不确定性和外部扰动等构成的集总干扰.此外,结合滑 模控制和预设时间函数方法,实现了在预设时间内将队列跟踪误差限制在预定区域,同时避免碰撞并保持通信.最 后, 通过数值仿真,验证了所提控制方案的有效性和优越性.
英文摘要
      This paper proposes a preset-time sliding-mode control (SMC) strategy based on nonlinear disturbance ob server (NDO) and fault-like model method for vehicular platoon systems subjected to actuator faults with dead zone, signal quantization, uncertainty of nonlinear models, unknown external disturbance and unknown time-varying actuator fault di rection. The quantized and dead-zone models are transformed into a fault-like model, which will simplify the controller design. The Nussbaum function method is developed to deal with the issue of unknown time-varying actuator fault direc tions. By introducing a nonlinear disturbance observer, the lumped disturbance including the nonlinear uncertainties and external disturbances can be estimated accurately. In addition, by combining the SMC technology with preset-time control method, a fault-tolerant control scheme is developed to ensure not only collision avoidance and communication connec tivity, but also the tracking error converges to a predetermined region within a preset-time. Finally, the effectiveness and superiority of the proposed control scheme are verified by numerical simulation.