保证队列稳定的非线性车辆队列无模型分散控制

doi:10.13229/j.cnki.jdxbgxb.20250038

吉林大学学报(工学版) ›› 2026, Vol. 56 ›› Issue (8): 2249-2259.doi: 10.13229/j.cnki.jdxbgxb.20250038

• 通信与控制工程 • 上一篇

保证队列稳定的非线性车辆队列无模型分散控制

宋家成¹(),张雅楠^1,²

^1.西北农林科技大学机械与电子工程学院，陕西杨凌 712100
^2.长安大学电子与控制工程学院，西安 710064

收稿日期:2025-01-11 出版日期:2026-08-01 发布日期:2026-09-02
作者简介:宋家成（1993-），男，讲师，博士.研究方向：智能网联车辆队列控制.E-mail：jiacheng.song@nwafu.edu.cn
基金资助:
国家重点研发计划项目(2021YFA1000303);中央高校基本科研业务费项目(Z1090122053);中央高校基本科研业务费项目(Z1090124102);陕西省博士后一等项目(2023BSHYDZZ63)

String stability and model free decentralized control for nonlinear vehicle platoon

Jia-cheng SONG¹(),Ya-nan ZHANG^1,²

^1.College of Mechanical and Electronic Engineering，Northwest A&F University，Yangling 712100，China
^2.School of Electronic and Control Engineering，Chang'an University，Xi'an 710064，China

Received:2025-01-11 Online:2026-08-01 Published:2026-09-02

摘要/Abstract

摘要：

针对车辆队列安全间距控制问题，提出一种仅基于局部信息的预设性能输出反馈无模型间距分散控制算法，实现间距误差的性能约束和速度干扰的衰减，保证车辆队列的队列稳定性。针对车辆队列分离或合并点头车的速度自主控制，设计一种预设性能无模型速度控制算法，实现车辆队列分离后子车队的自主巡航、与多个车辆队列稳定合并的一体化控制。仿真结果验证了所提无模型分散控制算法的有效性、灵活性及车辆队列系统的队列稳定性保证能力。

关键词: 汽车电子与智能化技术, 非线性车辆队列, 队列稳定性, 无模型控制, 分散控制, 预设性能控制

Abstract:

To maintain a safe distance between adjacent vehicles in a vehicle platoon， a prescribed performance output feedback model-free decentralized control algorithm based solely on local information is proposed. This algorithm ensures that distance control errors are constrained within a preset range， speed disturbances are attenuated， and string stability is guaranteed. Additionally， a prescribed performance model-free speed control algorithm was designed to address the autonomous speed control problem of the leading vehicle during the separation or merging of vehicle platoon. This algorithm can achieve the integrated control of autonomous cruise of sub-fleets after vehicle platoon separation and stable merging of multiple vehicle platoons. The simulation results have verified the effectiveness， flexibility， and ability to assure string stability of the proposed model-free decentralized control algorithm for nonlinear vehicle platoon systems.

Key words: automotive electronics and intelligent technology, nonlinear vehicle platoon, string stability, model free control, decentralized control, prescribed performance control

中图分类号:

TP273

宋家成,张雅楠. 保证队列稳定的非线性车辆队列无模型分散控制[J]. 吉林大学学报(工学版), 2026, 56(8): 2249-2259.

Jia-cheng SONG,Ya-nan ZHANG. String stability and model free decentralized control for nonlinear vehicle platoon[J]. Journal of Jilin University(Engineering and Technology Edition), 2026, 56(8): 2249-2259.

图/表 5

图1

表1

车辆编队控制参数"

参数类别	值	单位
$m i$	$1 ? 500 + (- 1) i × 300$	kg
$ρ i$	$1.3$ 0	kg/m³
$C i, d$	$0.32$	-
$C i, r$	$0.01$	-
$A i$	$2.4$ 0	m²
$θ i x i$	$0$	rad
$x i 0$	$8 × 4 - (i - 1) × 4$	m
$v i 0$	$20 + (- 1) i × 3$	m/s
$d m i n$	$2$	m
$d m a x$	$7$	m
$M$	$5$	-
$k i, 1$	$9 ? 000$	-
$k i, 2$	$9 ? 000$	-
$λ i$	$0.1$	-
$? i t$	$2 e 2 t + 0.1$	-

表1

图2

图3

图4

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保证队列稳定的非线性车辆队列无模型分散控制

String stability and model free decentralized control for nonlinear vehicle platoon

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