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一类随机车辆跟随系统的控制策略

DOI: 10.3969/j.issn.1006-7043.201309064

Keywords: 随机因素, 车辆跟随系统, 矢量Lyapunov函数, 指数群稳定性, 滑模控制

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Abstract:

为了改善高速公路的通行能力和安全性, 考虑随机因素的影响, 研究一类顾前顾后自动高速公路车辆跟随系统的控制器设计。基于伊藤随机微分方程建立了随机车辆动力学模型, 运用滑模控制设计了随机车辆纵向跟随系统的控制规律。然后根据系统稳定性判据分析了控制系统的稳定性, 得到系统控制参数的收敛区域为式(18)~(20)。数值仿真实验表明:各跟随车辆的速度、加速度等状态在较短的时间内能迫近领头车辆, 车间距误差有较快的收敛速度, 在15 s内收敛于0。

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