论文标题
使用矢量字符串lyapunov功能的分布式自适应反向替代控制与不匹配干扰的车辆排
Distributed Adaptive Backstepping Control for Vehicular Platoons with Mismatched Disturbances Using Vector String Lyapunov Functions
论文作者
论文摘要
在本文中，我们考虑使用分布式自适应反向替代方法，使用不匹配的干扰来排量控制的问题。主要的挑战是：（1）保持控制器的组分性和分布性，（2）确保控制器在一般类型的干扰方面的稳健性。为了应对这些挑战，我们首先提出了一种新的概念，即我们将“向量字符串Lyapunov函数”命名为“ Vector String lyapunov函数”，其存在意味着L2弱弦稳定性。该概念基于基于向量Lyapunov函数的稳定性分析，该分析取决于比较系统的输入到状态稳定性。使用此概念，我们为排的自适应反向替代控制器，以便在正式保证闭环系统的内部稳定性和字符串稳定性的同时，可以确保控制器的组成性和分布式性质。最后，提供了模拟示例，以说明所提出的对照算法的有效性。特别是，在两种类型的信息流拓扑和干扰下，我们提供了模拟结果，将我们提出的对照算法与最近提出的对照算法进行比较。
In this paper, we consider the problem of platooning control with mismatched disturbances using the distributed adaptive backstepping method. The main challenges are: (1) maintaining the compositionality and the distributed nature of the controller, and (2) ensuring the robustness of the controller with respect to general types of disturbances. To address these challenges, we first propose a novel notion that we named "Vector String Lyapunov Function", whose existence implies l2 weak string stability. This notion is based on the vector Lyapunov function-based stability analysis, which depends on the input-to-state-stability of a comparison system. Using this notion, we propose an adaptive backstepping controller for the platoon such that the compositionality and the distributed nature of the controller can be ensured while the internal stability and string stability of the closed-loop system are formally guaranteed. Finally, simulation examples are provided to illustrate the effectiveness of the proposed control algorithm. In particular, we provide simulation results comparing our proposed control algorithm with a recently proposed control algorithm from the literature, under two types of information flow topologies and disturbances.
