基于非线性动力学模型的车辆纵向队列控制研究

基于非线性动力学模型的车辆纵向队列控制研究AbstractVehicle queue is a research hotspot of Intelligent Transportation System (ITS).On the premise of ensuring safety and stability,shortening the workshop distance ofthe vehicle queue can improve road traffic capacity,effectively alleviate road trafficcongestion,and reduce vehicle fuel consumption.Communication is the key toreal-time information interaction in the vehicle queue,and this structure also has avery important impact on the performance of the vehicle control system.This paperconstructs a queue model based on the nonlinear longitudinal dynamics of vehicles,applies Lyapunov stability theory,adopts terminal constraints,and establishes thestability conditions of model predictive control under a fixed information flowtopology,and designs the corresponding Model predictive control algorithm,and theeffectiveness and stability of the proposed algorithm under various information flowtopologies are verified by MATLAB simulation.The main research work of this thesisis as follows:(1)Using feedback linearization method to establish the linear dynamics modelof the vehicle,and based on it,the homogeneous queue model was established,andthe state feedback model prediction algorithm related to the homogeneous queuesystem of the vehicle was proposed,and the control system of the vehicle queue wasconstructed.For the optimal control related problems in the finite time domain,theproblem is transformed into a linear quadratic problem to be solved.At the same time,the closed-loop stability of the homogeneous queue of vehicles is analyzed,and thesufficient conditions for the closed-loop stability of the queue are solved.The modelpredictive control algorithm of state feedback is adopted to realize the tracking andstable performance of the vehicle queue system.Through MATLAB simulation,thesimulation results of the intelligent driving model and the optimal speed model arecompared to verify the effectiveness and stability of the algorithm.(2)Establish a heterogeneous vehicle queue model based on the vehiclenonlinear dynamics model,and propose a predictive control algorithm for theheterogeneous vehicle queue model adapted to each information flow topology.Usingterminal constraints,Lyapunov stability theory is used to obtain sufficient conditionsfor controller stability control,and the weight matrix is adjusted to ensure theprogressive stability of the vehicle queue system in the established time-varyingdiscrete system.