论文标题
车辆排的非线性自适应巡航控制
Nonlinear Adaptive Cruise Control of Vehicular Platoons
论文作者
论文摘要
该论文介绍了非线性自适应巡航控制器的设计，用于在开阔的道路或环道上运行的车辆排。构造的反馈控制器是连续车辆及其速度之间距离的非线性函数。结果表明，拟议的新型控制器通过明确表征允许输入的集合来确保安全性（避免碰撞）和有限的车速。此外，我们保证排在所需配置以及弦稳定性的全局渐近稳定性。还研究了某些宏观特性。非线性自适应巡航控制器的效率通过数值示例证明。
The paper deals with the design of nonlinear adaptive cruise controllers for vehicular platoons operating on an open road or a ring-road. The constructed feedback controllers are nonlinear functions of the distance between successive vehicles and their speeds. It is shown that the proposed novel controllers guarantee safety (collision avoidance) and bounded vehicle speeds by explicitly characterizing the set of allowable inputs. Moreover, we guarantee global asymptotic stability of the platoon to a desired configuration as well as string stability. Certain macroscopic properties are also investigated. The efficiency of the nonlinear adaptive cruise controllers is demonstrated by means of a numerical example.
