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

Abstract

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

CLC Number:

TP273

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.

Figures/Tables 5

Fig.1

Table.1

Vehicle platoon control parameters"

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
$M$	$5$	-
$k i, 1$	$9 ? 000$	-
$k i, 2$	$9 ? 000$	-
$λ i$	$0.1$	-
$? i t$	$2 e 2 t + 0.1$	-

Table.1

Fig.2

Fig.3

Fig.4

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