| 车辆编队系统的分布式控制 |
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| 引用本文： | 李晖,伍清河,黄煌. 车辆编队系统的分布式控制[J]. 北京理工大学学报, 2009, 29(11): 972-977 |
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| 作者姓名： | 李晖 伍清河 黄煌 |
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| 作者单位： | 北京理工大学,自动化学院,北京,100081 |
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| 基金项目： | 北京理工大学研究生创新基金 |
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| 摘 要： | 基于关联系统模型研究智能车辆编队的分布式控制. 通过引入空间变量和空间移动算子,将车辆编队系统建模成多维的空间关联系统. 基于线性矩阵不等式的方法设计了与被控对象有着相同关联结构的分布式输出反馈H∞控制器,确保整个编队系统的适定性、稳定性及对外界干扰的鲁棒性. 在Matlab环境下编程验证控制器的性能,并通过3台移动机器人的模拟车辆编队仿真实验,说明模型的正确性和方法的有效性.
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| 关 键 词： | 分布式控制 车辆编队 关联系统 |
| 收稿时间： | 2008-11-06 |
Distributed Control of Vehicle Platoon System |
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| LI Hui,WU Qing-he and HUANG Huang. Distributed Control of Vehicle Platoon System[J]. Journal of Beijing Institute of Technology(Natural Science Edition), 2009, 29(11): 972-977 |
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| Authors: | LI Hui WU Qing-he HUANG Huang |
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| Affiliation: | School of Automation, Beijing Institute of Technology, Beijing 100081, China;School of Automation, Beijing Institute of Technology, Beijing 100081, China;School of Automation, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | Distributed control method of vehicle platoon system was investigated based on the model of interconnected system. The multiple vehicle platoon system is modeled as a multidimensional spatially interconnected system by introducing spatial variables and spatial shift operators. Distributed output feedback H_∞ controllers which have the same structure as the plants are designed to ensure that the whole platoon system is well-posed, stable and robust to exogenous disturbance. The controllers are obtained in terms of linear matrix inequalities. The control performance is validated on MATLAB software, and the simulation results of three mobile robots which imitate the vehicle platoon demonstrating the correctness of the model and effectiveness of the method. |
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| Keywords: | distributed control vehicle platoon interconnected systems |
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