通信拓扑结构随机切换及干扰下的多车队列事件驱动控制

doi:10.3901/JME.2024.22.276

机械工程学报 ›› 2024, Vol. 60 ›› Issue (22): 276-290.doi: 10.3901/JME.2024.22.276

扫码分享

通信拓扑结构随机切换及干扰下的多车队列事件驱动控制

刘赢^1,2, 徐利伟³, 采国顺³, 卢彦博³, 殷国栋³, 王建强²

1. 东南大学网络空间安全学院南京 211189;
2. 清华大学车辆与运载学院北京 100084;
3. 东南大学机械工程学院南京 211189

收稿日期:2023-12-07 修回日期:2024-07-23 出版日期:2024-11-20 发布日期:2025-01-02
作者简介:刘赢,男,1994年出生,博士研究生。主要研究方向为智能网联汽车技术。E-mail:seuliuy@hotmail.com;殷国栋(通信作者),男,1976年出生,博士,教授,博士研究生导师。主要研究方向为车辆动力学与控制、电动汽车与智能网联汽车、车联网与车路协同。E-mail:ygd@seu.edu.cn
基金资助:
国家杰出青年基金(52025121)和国家自然科学基金(51805081，52394263)资助项目。

Robust Event-triggered Control of Vehicle Platoon Under Stochastic Communication Links and Disturbances

LIU Ying^1,2, XU Liwei³, CAI Guoshun³, LU Yanbo³, YIN Guodong³, WANG Jianqiang²

1. School of Cyber Science and Engineering, Southeast University, Nanjing 211189;
2. School of Vehicle and Mobility, Tsinghua University, Beijing 100084;
3. School of Mechanical Engineering, Southeast University, Nanjing 211189

Received:2023-12-07 Revised:2024-07-23 Online:2024-11-20 Published:2025-01-02
About author:10.3901/JME.2024.22.276

摘要/Abstract

摘要： 为了解决通信拓扑随机切换、信息时延和外部干扰下的队列系统稳定性控制问题，提出一种基于事件触发机制的鲁棒控制策略。基于有向图理论建立通信结构切换下的马尔可夫跳跃拓扑模型，同时将对队列稳定性影响巨大的外界随机风速扰动、数据丢包与信息时滞、车载传感器数据离散化特性等因素整合到队列中，构建通信拓扑结构随机切换下的异质多车队列模型。为了保证队列系统的内稳定性，根据H_∞控制和马尔可夫跳跃系统的稳定性理论，提出一种基于事件触发机制的分布式随机稳定鲁棒控制方法。此外，还给出了L₂随机队列稳定性的定义，以减小扰动在整个队列中的扩散。试验结果表明，在通信拓扑随机切换、信息时延和外部干扰下，与传统队列鲁棒控制方法相比，所提出控制方法可以获得更小的相邻车间距和速度跟踪误差，同时能够以较低的计算负荷实现队列系统的稳定性。

关键词: 多车队列, 通信拓扑切换, 外部干扰, 队列稳定性, 事件驱动控制

Abstract: To resolve the vehicle platoon’s random change of communication topologies, information delay, and outside disturbance, a robust event-triggered control protocol based on the discrete event-triggered communication scheme is proposed. The Markov chain combined with directed graph approach is used to describe the platoon’s random switching data transmission network in actual traffic. The effects of delays and air resistance of the platooning system is investigated under equivalent information delays and outside interferences. To guarantee the inner-vehicle stability of the platooning system, the distributed controller with variable gains based on event-triggered scheme is put forward according to H_∞ control and the stability theory of Markovian jumping system. In addition, the definition of L₂ stochastic string stability is also given out to reduce perturbations when they spread throughout the platoon. Compared to traditional platoon robust control, it is shown that the proposed controller can obtain smaller adjacent spacing and speed tracking errors, and evenly realize the vehicle platoon’s stability with a lower computing burden.

Key words: vehicle platoon, random switching topologies, external disturbance, string stability, event-triggered control

中图分类号:

U461

刘赢, 徐利伟, 采国顺, 卢彦博, 殷国栋, 王建强. 通信拓扑结构随机切换及干扰下的多车队列事件驱动控制[J]. 机械工程学报, 2024, 60(22): 276-290.

LIU Ying, XU Liwei, CAI Guoshun, LU Yanbo, YIN Guodong, WANG Jianqiang. Robust Event-triggered Control of Vehicle Platoon Under Stochastic Communication Links and Disturbances[J]. Journal of Mechanical Engineering, 2024, 60(22): 276-290.

参考文献

[1] WANG Biyao，HAN Yi，WANG Siyu，et al. A review of intelligent connected vehicle cooperative driving development[J]. Mathematics，2022，10(19)：3635.
[2] LI Shengbo，GAO Feng，LI Keqiang，et al. Robust longitudinal control of multi-vehicle systems—A distributed H-infinity method[J]. IEEE Transactions on Intelligent Transportation Systems，2017，19(9)：2779-2788.
[3] 高锋，刘葆，李克强. 通信拓扑不确定条件下车队列分布式H_∞控制[J]. 汽车安全与节能学报，2017，8(4)：351-358. GAO Feng，LIU Bao，LI Keqiang. Distributed H∞ control of automated vehicular platoons with uncertain interaction topologies[J]. Journal of Automotive Safety and Energy，2017，8(4)：351-358.
[4] 朱旭，张泽华，闫茂德. 含输入时延与通信时延的车辆队列PID控制系统稳定性[J]. 交通运输工程学报，2022，22(3)：184-198. ZHU Xu，ZHANG Zehua，YAN Maode. Stability of PID control system for vehicle platoon with input delay and communication delay[J]. Journal of Traffic and Transportation Engineering，2022，22(3)：184-198.
[5] XU Qing，CHANG Xueyang，WANG Jianqiang，et al. Cloud-based connected vehicle control under time-varying delay：Stability analysis and controller synthesis[J]. IEEE Transactions on Vehicular Technology，2023，72(11)：14074-14086.
[6] LIU Ying，XU Liwei，YIN Guodong，et al. Distributed robust platooning control for heterogeneous vehicle group under parametric uncertainty and hybrid attacks[J]. IEEE Transactions on Vehicular Technology，2023，72(5)：5677-5689.
[7] LI Yongfu，TANG Chuancong，LI Kezhi，et al. Nonlinear finite-time consensus-based connected vehicle platoon control under fixed and switching communication topologies[J]. Transportation Research Part C：Emerging Technologies，2018，93：525-543.
[8] WEN Shixi，GUO Ge. Sampled-data control for connected vehicles with Markovian switching topologies and communication delay[J]. IEEE Transactions on Intelligent Transportation Systems，2019，21(7)：2930-2942.
[9] LIU Yang，YAO Deyin，LI Hongyi，et al. Distributed cooperative compound tracking control for a platoon of vehicles with adaptive NN[J]. IEEE Transactions on Cybernetics，2021，52(7)：7039-7048.
[10] BALDI S，LIU Di，JAIN V，et al. Establishing platoons of bidirectional cooperative vehicles with engine limits and uncertain dynamics[J]. IEEE Transactions on Intelligent Transportation Systems，2020，22(5)：2679-2691.
[11] LIU Zhongchang，LI Zhihui，GUO Ge，et al. Cooperative platoon control of heterogeneous vehicles under a novel event-triggered communication strategy[J]. IEEE Access，2019(7)：41172-41182.
[12] 王本斐，彭卫文，张荣辉，等. 电动汽车混合储能系统的事件触发无差拍控制[J]. 机械工程学报，2021，57(14)：77-86. WANG Benfei，PENG Weiwen，ZHANG Ronghui，et al. Event-triggered deadbeat control for the hybrid energy storage system in electric vehicles[J]. Journal of Mechanical Engineering，2021，57(14)：77-86.
[13] LINSENMAYER S，DIMAROGONAS D V，ALLGÖWER F. Event-based vehicle coordination using nonlinear unidirectional controllers[J]. IEEE Transactions on Control of Network Systems，2017，5(4)：1575-1584.
[14] BANSAL K，MUKHIJA P. Event-triggered control of vehicular platoon system with time-varying delay and sensor faults[J]. Proceedings of the Institution of Mechanical Engineers，Part D：Journal of Automobile Engineering，2020，234(14)：3362-3372.
[15] LI Zhicheng，HU Bin，LI Ming，et al. String stability analysis for vehicle platooning under unreliable communication links with event-triggered strategy[J]. IEEE Transactions on Vehicular Technology，2019，68(3)：2152-2164.
[16] WEN Shixi，GUO Ge，CHEN Bo，et al. Event-triggered cooperative control of vehicle platoons in vehicular ad hoc networks[J]. Information Sciences，2018，459：341-353.
[17] ZHENG Yang，LI Shengbo，LI Keqiang，et al. Stability margin improvement of vehicular platoon considering undirected topology and asymmetric control[J]. IEEE Transactions on Control Systems Technology，2015，24(4)：1253-1265.
[18] REN Wei，BEARD R W. Consensus seeking in multiagent systems under dynamically changing interaction topologies[J]. IEEE Transactions on Automatic Control，2005，50(5)：655-661.
[19] ABOLFAZLI E，BESSELINK B，CHARALAMBOUS T. On time headway selection in platoons under the MPF topology in the presence of communication delays[J]. IEEE Transactions on Intelligent Transportation Systems，2021，23(7)：8881-8894.
[20] CAO Yongyan，SUN Youxian，CHENG Chuwang. Delay-dependent robust stabilization of uncertain systems with multiple state delays[J]. IEEE Transactions on Automatic Control，1998，43(11)：1608-1612.
[21] MAO X. Robustness of exponential stability of stochastic differential delay equations[J]. IEEE Transactions on Automatic Control，1996，41(3)：442-447.
[22] XU Liwei，ZHUANG Weichao，YIN Guodong，et al. Energy-oriented cruising strategy design of vehicle platoon considering communication delay and disturbance[J]. Transportation Research Part C：Emerging Technologies，2019，107：34-53.
[23] XU Liwei，ZHUANG Weichao，YIN Guodong，et al. Simultaneous longitudinal and lateral control of vehicle platoon subject to stochastic communication delays[J]. Journal of Dynamic Systems，Measurement，and Control，2019，141(4)：044503.

通信拓扑结构随机切换及干扰下的多车队列事件驱动控制

Robust Event-triggered Control of Vehicle Platoon Under Stochastic Communication Links and Disturbances

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	唐小林, 杨剑英, 杨凯, 李文博. 面向无信号灯十字路口的自动驾驶多车协同控制方法研究[J]. 机械工程学报, 2024, 60(20): 217-228.
[2]	叶青, 姜笑, 张垚, 汪若尘, 丁仁凯, 蔡英凤. 考虑响应时滞的磁流变半主动悬架H_∞控制与试验研究[J]. 机械工程学报, 2024, 60(18): 276-287.
[3]	钱敏, 耿可可, 殷国栋, 李尚杰, 王子威, 孙宇啸. 基于多元信息融合的车路协同重识别算法[J]. 机械工程学报, 2024, 60(16): 231-240.
[4]	金贤建, 王佳栋, 徐利伟, 严择圆, 卢彦博, 殷国栋, 陈南. 轮毂电机驱动电动汽车主动悬架μ综合鲁棒控制研究[J]. 机械工程学报, 2024, 60(16): 259-269.
[5]	冯吉伟, 殷国栋, 梁晋豪, 庄伟超, 彭湃, 卢彦博, 采国顺, 徐利伟. 考虑介入惩罚因子的智能车辆人机协同控制架构[J]. 机械工程学报, 2024, 60(14): 238-251.
[6]	张伟, 刘辉, 刘金刚, 严鹏飞, 傅兵. 机电复合传动主谐次扰动相位自适应补偿方法[J]. 机械工程学报, 2024, 60(13): 354-365.
[7]	张海伦, 许庆, 高博麟, 王建强, 李克强. 网联环境下驾驶人响应机制——一种交叉路口接近行为定性效应分析与定量驾驶模式提取案例[J]. 机械工程学报, 2024, 60(10): 22-47.
[8]	伍文广, 张斌, 胡林, 张志勇. 人车交互的行人过街方位概率动态预测模型[J]. 机械工程学报, 2024, 60(10): 48-50.
[9]	杨凯, 唐小林, 钟桂川, 王明, 李国法, 胡晓松. 面向无信号灯十字路口场景的自动驾驶安全决策方法研究[J]. 机械工程学报, 2024, 60(10): 147-159.
[10]	褚端峰, 彭赛骞, 胡海洋, 皮大伟. 预见性驾驶风险场模型[J]. 机械工程学报, 2024, 60(10): 160-170.
[11]	胡林, 杨冬兆, 张新, 章杰, 廖家才. 基于DQP-LMPC的智能车超车换道动态路径规划[J]. 机械工程学报, 2024, 60(10): 171-181.
[12]	梁凯冲, 赵治国, 颜丹姝, 赵坤. 基于动态运动基元的车辆高速公路换道轨迹规划[J]. 机械工程学报, 2024, 60(10): 192-206.
[13]	郑讯佳, 蒋骏皓, 黄荷叶, 王建强, 许庆, 张强. 行车风险量化新方法及其防控策略仿真研究[J]. 机械工程学报, 2024, 60(10): 207-221.
[14]	曾迪, 郑玲, 李以农, 杨显通. 自动驾驶奖励函数贝叶斯逆强化学习方法[J]. 机械工程学报, 2024, 60(10): 245-260.
[15]	赵林峰, 丰肖, 方婷, 王宁, 陈无畏, 王慧然. 基于前车轨迹预测的智能车辆高速主动避撞方法[J]. 机械工程学报, 2024, 60(10): 289-301.