| 引用本文: | 袁晓惠,李赞,安天骄,董博.双预设精度下车辆队列系统的自适应容错控制[J].控制理论与应用,2026,43(2):316~324.[点击复制] |
| YUAN Xiao-hui,LI Zan,AN Tian-jiao,DONG Bo.Adaptive fault-tolerant control of vehicle platoon systems with dual-prescribed precision[J].Control Theory & Applications,2026,43(2):316~324.[点击复制] |
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| 双预设精度下车辆队列系统的自适应容错控制 |
| Adaptive fault-tolerant control of vehicle platoon systems with dual-prescribed precision |
| 摘要点击 116 全文点击 20 投稿时间：2024-01-04 修订日期：2025-02-28 |
| 查看全文 查看/发表评论 下载PDF阅读器 HTML |
| DOI编号 10.7641/CTA.2024.40008 |
| 2026,43(2):316-324 |
| 中文关键词 自适应控制 分布式控制 车辆队列系统 预设时间观测器 预设性能 容错控制 |
| 英文关键词 adaptive control distributed control vehicle platoon systems prescribed-time observer prescribed performance fault-tolerant control |
| 基金项目 国家自然科学基金项目(62173047), 国家社会科学基金项目(22BTJ019), 吉林省科技发展计划项目(20220201038GX), 吉林省教育厅科学研究项 目(JJKH20230749KJ), 先进结构材料教育部重点实验室(长春工业大学)项目(ASM–202202)资助. |
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| 中文摘要 |
| 在智能交通领域, 车辆队列系统的协同跟踪控制是改善交通效率低下的有效手段, 并且实现车辆队列系统
的精确快速跟踪至关重要. 因此, 针对车辆队列系统的协同跟踪控制问题, 本文提出了一种分布式预设时间观测器.
该观测器旨在使跟随车能够在预设时间内成功跟随领航车的状态, 其中领航车的输入对于部分跟随车不可用. 随
后, 为了保证跟踪性能, 需要构建预设性能函数. 然而, 在车辆队列系统中途停止并重新启动, 或者改变领航车的动
态时, 会导致性能函数的重新选择, 从而需要重新设计控制方案. 为了消除这一限制, 本文设计了一种不依赖于初始
条件的性能函数, 并基于观测结果构建了预设性能下的跟踪控制协议, 以在保证暂态和稳态性能的前提下实现系统
的精确快速跟踪; 此外, 为增强车辆队列系统的安全性, 本文提出了自适应补偿控制方案, 用以解决系统执行器故障
问题. 所提出的控制方案能够在系统达到稳定的同时, 确保所有车辆在运行时保持安全间距; 最后, 通过仿真结果验
证了所提出算法的有效性. |
| 英文摘要 |
| In the field of intelligent transportation, the cooperative tracking control of vehicle platoon systems is an
effective means to improve traffic inefficiency, and achieving accurate and fast tracking of vehicle platoon systems is of
paramount importance. Therefore, a distributed prescribed-time observer is proposed for cooperative tracking control of
vehicle platoon systems. The observer is designed to enable the follower vehicles to successfully follow the state of the
leader vehicle at the prescribed time, where the leader vehicle’s input is unavailable for some of the follower vehicles.
In order to guarantee tracking performance, it is necessary to establish a prescribed performance function. However,
stopping and restarting the vehicle platoon systems midway, or changing the dynamics of the leader vehicle, will result
in a reselection of the performance function, thus requiring a redesign of the control scheme. In order to eliminate this
limitation, a performance function independent of initial conditions is designed in this paper. Based on observed results,
a tracking control protocol with prescribed performance is developed to achieve accurate and rapid tracking of the system
while ensuring transient and steady state performance. Additionally, to enhance the safety of vehicle platoon systems, an
adaptive compensation control scheme is proposed to address actuator faults. The proposed control scheme guarantees that
all vehicles maintain a safe distance while the system reaches stability. Finally, the effectiveness of the proposed algorithm
is verified by simulation results. |
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