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.
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.
出处
《西南交通大学学报》
EI
CSCD
北大核心
2015年第6期1088-1093,共6页
Journal of Southwest Jiaotong University
基金
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(CQcstc2013jj B40008)
关键词
随机干扰
车辆跟随系统
指数均方稳定性
滑模控制
stochastic disturbance
vehicle following system
exponential mean-square stability
sliding mode control
