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首页> 外文学位 >String stability of interconnected systems: An application to platooning in automated highway systems.
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String stability of interconnected systems: An application to platooning in automated highway systems.

机译：互连系统的字符串稳定性：在自动化高速公路系统中进行排的应用。

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摘要

Automated Highway System (AHS) is primarily aimed at improving the traffic flow capacity of the highways while ensuring safety. Central to successful deployment of AHS is the development of Automated Vehicle Control Systems (AVCS). The longitudinal control aspect of AVCS deals with automatically controlling the intervehicular spacing of close-vehicle formations called platoons. This dissertation investigates various platooning strategies and their impact on the performance of the platoon.;String stability of a vehicle platoon is the primary performance parameter. Intuitively, string stability of a vehicle platoon ensures that the intervehicular spacing errors of all the vehicles are bounded uniformly in time provided the initial spacing errors of all the vehicles are bounded. In this dissertation, we design various decentralized control algorithms and characterize their performance in terms of the minimum attenuation of the maximum spacing errors that can be guaranteed from vehicle to vehicle in the platoon.;Parametric uncertainties degrade the platoon performance. In order to improve the robustness of a string stable control algorithm, a direct adaptive control algorithm that guarantees improved performance is designed.;The concept of string stability is extended to general nonlinear dynamical systems. We derive sufficient conditions for ensuring stability for a countably infinite interconnection of exponentially stable nonlinear systems. We also show that under the same conditions, string stability is preserved for structural and singular perturbations. Then, we present a decentralized adaptive controller to improve the robustness in the presence of parametric uncertainties for the same class of systems.;The contributions of this dissertation are twofold: From an application point of view, this dissertation proposes "practical" platooning strategies. From a theoretical point of view, this study extends the concepts of stability to a countably infinite interconnection of general nonlinear dynamical systems and introduces techniques for analysis and design of decentralized control laws for them.
机译：自动化公路系统（AHS）的主要目的是在确保安全的同时提高高速公路的通行能力。成功部署AHS的核心是自动车辆控制系统（AVCS）的开发。 AVCS的纵向控制方面涉及自动控制称为排的近车编队的行车间距。本文研究了各种排法及其对排性能的影响。汽车排的弦稳定性是主要的性能参数。直观地，车辆排的弦稳定性确保了所有车辆的车辆间距误差在时间上均匀地被约束，只要所有车辆的初始间距误差都被约束。本文设计了各种分散控制算法，并根据排中车辆之间可以保证的最大间距误差的最小衰减来表征其性能。参数不确定性降低了排的性能。为了提高弦稳定控制算法的鲁棒性，设计了一种保证性能提高的直接自适应控制算法。弦稳定性的概念被扩展到一般的非线性动力学系统。我们得出足够的条件来确保指数稳定非线性系统的无限无限互连的稳定性。我们还表明，在相同条件下，弦的稳定性被保留用于结构和奇异摄动。然后，我们提出了一种分散的自适应控制器，以提高同一类系统在存在参数不确定性的情况下的鲁棒性。本文的贡献是双重的：从应用的角度出发，本文提出了“实用的”排策略。从理论的角度来看，这项研究将稳定性的概念扩展到了一般非线性动力学系统的无穷无尽的相互联系，并介绍了分析和设计分散控制律的技术。

著录项

  • 作者

    Swaroop, D. V. A. H. G.;

  • 作者单位

    University of California, Berkeley.;

  • 授予单位 University of California, Berkeley.;
  • 学科 Engineering Mechanical.;Transportation.;Engineering System Science.
  • 学位 Ph.D.
  • 年度 1994
  • 页码 107 p.
  • 总页数 107
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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