一种领队车输入未知的多车辆纵向协作控制方法

本文考虑了领队车控制输入未知的情况，提出一种多车辆纵向协作控制方法.首先，通过采用精确反馈线性化技术，得到了线性的车辆的动力学模型.然后，采用双向领队跟随通信策略，基于邻居车辆的状态信息，为每辆跟随车设计分布式控制律.考虑在领队车输入有界的情况下，提出了一种有效的多车辆协作控制算法，能够保证多车辆系统以最大的收敛速率达到内部稳定.最后，仿真结果展示了所提出控制器设计算法的有效性和优越性.

A cooperative longitudinal control approach of multiple-vehicle systems with unknown control input of the leading vehicle

This paper proposes a multiple-vehicle longitude control method with considering unknown control input of the leading vehicle.First,the linearized vehicle dynamics is obtained by adopting a technique of the exact feedback linearization.Then,based on the state information of neighboring vehicles,a distributed control law is designed for each following vehicle with the bidirectional-leader communication strategy.Taking the upper bound input of the leading vehicle into account,an effective control method is proposed to guarantee the inner stability of the multiple-vehicle systems with the maximum rate of convergence.Finally,the simulation results show the effectiveness and superiority of the proposed controller design algorithm.