Lin Man-Fei, Liu Cheng-Lin, Zhang Ya, Chen Yang-Yang
Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Institute of Automation, Jiangnan University, Wuxi 214122, Jiangsu, PR China.
School of Automation, Southeast University, Nanjing, 210096, Jiangsu, PR China.
ISA Trans. 2024 Feb;145:44-50. doi: 10.1016/j.isatra.2023.12.010. Epub 2023 Dec 7.
This paper focuses on the distributed adaptive sliding-mode control problem for two-dimensional (2-D) plane vehicle platoon with prescribed performance, angle constraints, and actuator faults. The quadratic spacing policy (QSP) is first adopted for the 2-D plane vehicle platoon to adjust the inter-vehicle spacing. The spacing error can converge within a finite time to the small region predetermined by a new finite-time performance function (FTPF). Meanwhile, a new transformed error function is introduced to convert the FTPF-constrained spacing errors into equivalent unconstrained ones. Besides, the property of the invertible nonlinear mapping function is used for the original system with the angle constraint to get a new unconstrained system. Moreover, a new controller based on hyperbolic tangent function is designed to handle actuator faults occurring multiple times over a period. Furthermore, the stability and string stability of the 2-D plane vehicle platoon are achieved through sliding-mode control. Finally, the simulation results validate the effectiveness of the proposed techniques.
本文聚焦于具有规定性能、角度约束和执行器故障的二维平面车辆编队的分布式自适应滑模控制问题。二维平面车辆编队首先采用二次间距策略（QSP）来调整车间距。间距误差可在有限时间内收敛到由新的有限时间性能函数（FTPF）预先确定的小区域内。同时，引入一种新的变换误差函数，将受FTPF约束的间距误差转换为等效的无约束误差。此外，对于具有角度约束的原系统，利用可逆非线性映射函数的性质得到一个新的无约束系统。而且，设计了一种基于双曲正切函数的新型控制器，以处理一段时间内多次出现的执行器故障。此外，通过滑模控制实现了二维平面车辆编队的稳定性和串稳定性。最后，仿真结果验证了所提技术的有效性。
