基于扰动观测器的固定时间车辆编队控制

doi:10.3778/j.issn.1002-8331.2306-0258

摘要/Abstract

摘要： 考虑智能无人车在实际行驶中会受到外部自然环境及内部自身模型参数不确定的影响，使得对车辆编队系统的控制效果减弱，为此提出了一种具有扰动观测器的编队控制算法。使用车辆动力学和运动学模型进行建模，同时引入扰动观测器，可以让系统对复合扰动进行精确辨识。采用固定时间理论设计跟随车的控制器，运用李雅普诺夫稳定性理论分别证明了两个控制器都能在固定时间内收敛，并接着证明了整个车辆编队控制系统都能在一个固定的时间范围内收敛。通过仿真验证所提出的基于扰动观测器的固定时间车辆编队控制器的有效性。仿真结果表明，所提出的控制器可以使车辆编队在固定时间内快速收敛，且系统收敛时间与系统初始状态无关。

关键词: 车辆编队, 协同控制, 固定时间, 编队控制, 领航跟随法

Abstract: Considering the influence of external natural environment and internal model parameter uncertainty on intelligent unmanned vehicles during actual driving, which weakens the control effect on vehicle formation systems, a formation control algorithm with disturbance observer is proposed. Firstly, vehicle dynamics and kinematics models are used for modeling, and disturbance observer is introduced to enable the system to accurately identify the composite disturbance. Secondly, the fixed-time theory is used to design the controller for the following vehicle, and the Lyapunov stability theory is used to prove that both controllers can converge within a fixed-time range. Furthermore, it is demonstrated that the entire vehicle formation control system can converge within a fixed-time range. Finally, the effectiveness of the proposed disturbance observer based fixed-time vehicle formation controller is verified through simulation. The simulation results show that the proposed controller can converge the vehicle formation quickly within a fixed-time, and the system convergence time is independent of the initial state of the system.

Key words: vehicle formation, cooperative control, fixed-time, formation control, leader-follower

张意豪, 叶洪涛, 罗文广, 文家燕. 基于扰动观测器的固定时间车辆编队控制[J]. 计算机工程与应用, 2024, 60(20): 320-327.

ZHANG Yihao, YE Hongtao, LUO Wenguang, WEN Jiayan. Fixed-Time Based on Perturbation Observer Vehicle Formation Control[J]. Computer Engineering and Applications, 2024, 60(20): 320-327.

参考文献

[1] YANG S C, CAO Y G, PENG Z X, et al. Distributed formation control of nonholonomic autonomous vehicle via RBF neural network[J]. Mechanical Systems and Signal Processing, 2017, 87(2): 81-95.
[2] HE S D, XU R R, ZHAO Z J, et al. Vision-based neural formation tracking control of multiple autonomous vehicles with visibility and performance constraints[J]. Neurocomputing, 2022, 492: 651-663.
[3] CHEN H Z, YAN H C, WANG Y Y, et al. Reinforcement learning-based close formation control for underactuated surface vehicle with prescribed performance and time-varying state constraints[J]. Ocean Engineering, 2022, 256: 142-155.
[4] YAN Y, ZHAO X T, YU S H. Barrier function-based adaptive neural network sliding mode control of autonomous surface vehicles[J]. Ocean Engineering, 2021, 238: 684-693.
[5] PEDRO C, PEDRO B, AMIT S. Design and analysis of attitude observers based on the Lagrange-d’Alembert principle applied to constrained three-vehicle formations[J]. Advances in Space Research, 2022, 69(11): 4001-4012.
[6] LIU A Q, LI T, GU Y, et al. Cooperative extended state observer based control of vehicle platoons with arbitrarily small time headway[J]. Automatica, 2021, 129: 3124-3133.
[7] POLYAKOV A. Nonlinear feedback design for fixed-time stabilization of linear control systems[J]. IEEE Transactions on Automatic Control, 2012, 57(8): 2106-2110.
[8] BASIN M. Finite-time and fixed-time convergent algorithms: design and convergence time estimation[J]. Annual Reviews in Control, 2019, 48: 209-221.
[9] 赵玮, 任凤丽. 基于牵制控制的多智能体系统的有限时间与固定时间一致性[J]. 应用数学和力学, 2021, 42(3): 299-307.
ZHAO W, REN F L. Finite-time and fixed-time consensus for multi-agent systems via pinning control[J]. Applied Mathematics and Mechanics, 2021, 42(3): 299-307.
[10] 马俊达, 谭冲, 刘可. 欠驱动无人船非奇异固定时间鲁棒包容控制[J]. 控制与决策, 2023, 132(4): 1-9.
MA J D, TAN C, LIU K. Nonsingular fixed-time robust containment control for underactued unmanned surface vehicle[J]. Control and Decision, 2023, 132(4): 1-9.
[11] 叶帅, 蒋国平, 周映江, 等. 基于事件触发的多无人机固定时间编队控制[J]. 系统仿真学报, 2021, 33(10): 2420-2431.
YE S, JIANG G P, ZHOU Y J, et al. Fixed-time event-triggered formation control for multiple UAVs[J]. Journal of System Simulation, 2021, 33(10): 2420-2431.
[12] WANG H, LI H Y, FENG Y X, et al. Fixed-time coordinated guidance for containment maneuvering of unmanned surface vehicles under delayed communications: theory and experiment[J]. Ocean Engineering, 2023, 277: 145-154.
[13] 郭戈, 张茜, 高振宇. 具有预设瞬稳态性能的有限时间智能车辆固定构型编队控制[J]. 中国公路学报, 2022, 35(3): 28-42.
GUO G, ZHANG Q, GAO Z Y. Finite-time fixed configuration formation control of intelligent vehicles with prescribed transient and steady-state performance[J]. China Journal of Highway and Transport, 2022, 35(3): 28-42.
[14] 余明裕, 李仲昆, 王泊桦. 基于固定时间扰动观测器的水面无人艇精确编队控制[J]. 控制与决策, 2023, 38(2): 379-387.
YU M Y, LI Z K, WANG B H. Fixed-time disturbance observer-based accurate formation control of unmanned surface vehicles[J]. Control and Decision, 2023, 38(2): 379-387.
[15] DIXON W E, DAWSON D M, ZERGEROGLU E, et al. Nonlinear control of wheeled mobile robots[M]. London: Springer, 2001.
[16] PING X, PEDRYCZ W. Output feedback model predictive control of interval type-2 TS fuzzy system with bounded disturbance[J]. IEEE Transactions on Fuzzy Systems, 2019, 28(1): 148-162.
[17] GUO G, LI D. Adaptive sliding mode control of vehicular platoons with prescribed tracking performance[J]. IEEE Transactions on Vehicular Technology, 2019, 68(8): 7511-7520.
[18] LIU J, ZHANG Y, SUN C, et al. Fixed-time consensus of multi-agent systems with input delay and uncertain disturbances via event-triggered control[J]. Information Sciences, 2019, 480(2): 261-272.
[19] WANG F, CHEN B, LIN C, et al. Adaptive neural network finite-time output feedback control of quantized nonlinear systems[J]. IEEE Transactions on Cybernetics, 2018, 48(6): 1839-1848.
[20] ZOU A M, RUITER A H, KUMAR K D. Distributed finite-time velocity-free attitude coordination control for spacecraft formations[J]. Automatica, 2016, 126(7): 46-53.
[21] CAI X, QUEIROZ M. Adaptive rigidity-based formation control for multi-robotic vehicles with dynamics[J]. IEEE Transactions on Control Systems Technology, 2014, 23(1): 389-396.