CAJ | 학술논문

假定车辆质量及作用在车辆上的空气阻力、地面对轮胎的摩擦力等参数随时间变化但有界,研究自动化公路系统车辆纵向跟随控制.根据车辆不确定参数的有界性和滑模控制策略,采用饱和函数法,设计了车辆跟随系统的纵向变结构控制规律;基于李雅普诺夫稳定性方法,对控制系统的稳定性进行分析,并确定系统收敛的充分条件.仿真结果表明:采用所设计的控制方法,在达到满意跟踪性能的同时,还能有效抑制控制颤振,对参数不确定性具有鲁棒性.
가정차량질량급작용재차량상적공기조력、지면대륜태적마찰력등삼수수시간변화단유계,연구자동화공로계통차량종향근수공제.근거차량불학정삼수적유계성화활모공제책략,채용포화함수법,설계료차량근수계통적종향변결구공제규률;기우리아보낙부은정성방법,대공제계통적은정성진행분석,병학정계통수렴적충분조건.방진결과표명:채용소설계적공제방법,재체도만의근종성능적동시,환능유효억제공제전진,대삼수불학정성구유로봉성.
With the assumption of the boundedness of time-varying parameter, such as mass of vehicle, aerodynamic drag force, and tire drag force acting on vehicle, the control law for vehicle longitudinal fol-lowing with parametric uncertainty in automated highway systems was studied. Based on the sliding mode scheme, considering the boundedness of varying parameter, the control law for vehicle longitudinal fol-lowing was designed by using the saturated function method. The stability of control system was analyzed, and the sufficient condition to guarantee the convergence of the system was derived by applying Lyapunov function method. The simulation results show that the control method proposed here not only has a strong robustness to parametric uncertainty and reduces the control chattering, but also has a good tracking per-formance.