含随机干扰的车辆跟随系统滑模控制

施继忠; 张继业; 徐晓惠; 胡永举

doi:10.3969/j.issn.0258-2724.2015.06.016

含随机干扰的车辆跟随系统滑模控制

doi: 10.3969/j.issn.0258-2724.2015.06.016

基金项目:

国家自然科学基金资助项目(11172247,11402214)

教育部春晖计划资助项目(Z2014075)

浙江省自然科学基金资助项目(LY14E080006)

重庆市自然科学基金重点资助项目(CQcstc2013jjB40008)

详细信息

作者简介:
施继忠(1977-),男,讲师,博士,研究方向为系统的稳定性分析与控制、智能交通系统,E-mail:shijizhong@zjnu.cn

通讯作者:
张继业(1965-),男,教授,博士,研究方向为系统稳定性分析与控制、智能交通系统、空气动力学,E-mail:jyzhang@home.swjtu.edu.cn

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出版历程
- 收稿日期: 2013-01-21
- 刊出日期: 2015-12-25

Sliding Mode Control for Vehicle Following System with Stochastic Disturbances

摘要

摘要: 为验证滑模控制用于含随机干扰的车辆跟随系统的可行性,建立了车辆跟随系统模型和相应的随机车辆动力学模型.用滑模控制法设计了随机车辆跟随系统的控制器.用向量Lyapunov函数法研究了控制系统稳定性,并得到系统指数均方稳定的充分条件.仿真中设置的随机因素为车辆的阻力.仿真结果表明,在5 s内跟随车辆的加速度和速度已接近领头车辆,车间距误差小于0.05 m.
- 随机干扰 /
- 车辆跟随系统 /
- 指数均方稳定性 /
- 滑模控制
Abstract: A vehicle following system and the corresponding vehicle dynamics model were set up to verify the feasibility of applying sliding mode control in vehicle following system with stochastic disturbances. A controller for the system was designed by sliding mode control method. The stability of the control system was studied by applying vector Lyapunov function method, and the sufficient conditions for exponential mean-square stability of the system were obtained. The stochastic disturbance involved in simulation was the resistances to vehicles. Simulation results showed that in less than 5 s, the accelerations and the speeds of the following vehicles converge to that of the leading vehicle, and the vehicle spacing errors approched to less than 0.05 m.
- stochastic disturbance /
- vehicle following system /
- exponential mean-square stability /
- sliding mode control

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参考文献(14)

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