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针对自动跟随车辆间信息传输存在无线网络量化误差的情况,研究了车辆跟随系统的纵向控制问题。假定每个跟随车辆能够通过无线网络获得相邻车辆及领头车辆的状态信息,并且信息在对数量化器传输下存在量化误差。基于车辆非线性纵向动力学耦合模型和车辆固定间隔跟随策略,应用向量Lyapunov函数方法得出的指数稳定性判据,将量化误差处理为系统状态的不确定性,给出补偿量化误差的滑模控制律,并设计满足系统群稳定性的控制器参数。仿真结果表明:相较于不考虑量化误差的控制器,本控制器能够显著提高车辆跟随误差的收敛速度,确保了自动车辆纵向跟随系统的稳定性。
Aiming at the circumstance that the quantization error of wireless network exists automatically for the information transmission between vehicles, the longitudinal control problem of vehicle following system is studied. It is assumed that each following vehicle can obtain the status information of the neighboring vehicles and leading vehicles over the wireless network, and there is a quantization error of the information under the log quantizer transmission. Based on the vehicle nonlinear longitudinal dynamics coupling model and vehicle fixed interval following strategy, the exponential stability criterion obtained by the vector Lyapunov function method is used to treat the quantization error as the uncertainty of the system state. The sliding mode compensating quantization error Control law and design controller parameters that satisfy the stability of the system. The simulation results show that the proposed controller can significantly improve the convergence rate of following error and ensure the stability of the longitudinal following system compared with the controller without considering the quantization error.