Wen Shixi, Guo Ge
School of Information and Engineering, Dalian University, Dalian, 116622, China; The Key Laboratory of Advanced Design and Intelligent Computing, Ministry of Education, Dalian University, Dalian, 116622, China.
State Key Laboratory of Synthetical Automation for Industrial Process, Northeastern University, Shenyang, 110004, China; School of Control Engineering, Northeastern University at Qinhuangdao, Qinhuangdao, 066004, China.
ISA Trans. 2024 Mar;146:127-141. doi: 10.1016/j.isatra.2023.12.040. Epub 2024 Jan 3.
This study investigates an asynchronous sampled-data control problem of vehicular platoons, with heterogeneous sampling, subjected to actuator delays. Without a synchronized clock, a completely asynchronous sampled-data controller is designed for each follower, where the state of the ith follower itself and its neighboring vehicles are sampled at their own sampling time instants. The caused closed-loop tracking error dynamics for the entire platoon considering the effect of the nonuniform sampling time intervals, heterogeneous vehicle dynamics, inter-vehicle topology and heterogeneous time delays. To simplify the stability analysis and controller design, the tracking-error dynamics of the entire platoon are decomposed into individual subsystems with reduced-order dynamics. Based on Lyapunov stability theory, the optimal conditions are explored to design an asynchronous sampled-data controller to guarantee the desired stability performance. Moreover, the exact values for the maximum allowable sampling interval and time delay are calculated for each follower using the designed feedback controller gain. The proposed asynchronous sampled-data control method is extended to a vehicular platoon using an event-based sampling scheme. Numerical examples are used to verify the effectiveness of the proposed sampled-data control method.
本研究探讨了存在异构采样且受执行器延迟影响的车辆编队异步采样数据控制问题。在没有同步时钟的情况下，为每个跟随车辆设计了一个完全异步采样数据控制器，其中第(i)个跟随车辆自身及其相邻车辆的状态在它们各自的采样时刻进行采样。考虑到非均匀采样时间间隔、异构车辆动力学、车辆间拓扑结构和异构时间延迟的影响，推导了整个编队的闭环跟踪误差动态方程。为简化稳定性分析和控制器设计，将整个编队的跟踪误差动态方程分解为具有降阶动态的各个子系统。基于李雅普诺夫稳定性理论，探索了设计异步采样数据控制器以保证所需稳定性性能的最优条件。此外，使用设计的反馈控制器增益为每个跟随车辆计算最大允许采样间隔和时间延迟的精确值。所提出的异步采样数据控制方法被扩展到使用基于事件的采样方案的车辆编队。数值例子用于验证所提出的采样数据控制方法的有效性。
