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首页> 外文期刊>Intelligent Transport Systems, IET >Decoupled H∞ control of automated vehicular platoons with complex interaction topologies
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Decoupled H∞ control of automated vehicular platoons with complex interaction topologies

机译：具有复杂交互拓扑的自动车辆排的解耦H∞控制

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摘要

The platooning of automated vehicles has potential to significantly benefit road traffic, while its robust performance is less investigated especially considering increasing complexity of interaction topologies. This study presents a decoupled H∞ control method for automated vehicular platoon to comprehensively compromise multiple performances. The platoon control system is first decomposed into an uncertain part and a diagonal nominal system through the linear transformation, which is motivated by the eigenvalue decomposition of information topology. Based on this almost decoupled system, a distributed H∞ controller is presented, which can balance the performances of robustness and disturbance attenuation ability. Moreover, a numerical method is given to solve and optimise this controller by using linear matrix inequality approach. Several comparative hardware-in-loop tests of different communication topologies and controllers have been carried out to demonstrate the effectiveness of this method.
机译：无人驾驶汽车排有可能显着受益于道路交通，而其鲁棒性能却很少得到研究，尤其是考虑到交互拓扑结构越来越复杂时。这项研究提出了一种用于汽车排的H∞解耦控制方法，以全面折衷多种性能。排控制系统首先通过线性变换分解为不确定部分和对角标称系统，这是由于信息拓扑的特征值分解所致。基于这种几乎解耦的系统，提出了一种分布式H∞控制器，该控制器可以平衡鲁棒性和干扰衰减能力。此外，给出了一种使用线性矩阵不等式方法求解和优化该控制器的数值方法。已经进行了几种不同通信拓扑和控制器的比较硬件在环测试，以证明该方法的有效性。

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