Platoon Cooperative Control Of Connected Vehicles Subject To Multiple Constraints

Platoon control of connected vehicles can effectively reduce road congestion,improve road efficiency,reduce accident rates and energy consumption,and is an important basis for intelligent transportation systems and future road traffic intelligence research.However,due to the complex road traffic environment,different vehicle conditions and limited communication bandwidth,vehicle platoons are subject to self-and external constraints such as external interference,actuator saturation and limited data transmission rates,which make the control of connected vehicle platoons more difficult,especially affecting the overall system string stability and thus reducing the safety,comfort and road traffic capacity of the system.In view of this,this thesis focuses on the problem of cooperative control of connected vehicle systems considering multiple constraints,which has important theoretical and practical significance.The main research elements are as follows:To address the problem of platoon control of connected vehicles affected by external disturbances,a distributed finite-time controller is designed to realize the platoon control of second-order connected vehicle systems affected by external disturbances.A tracking error conversion method is proposed and based on which an acceleration feedback integral sliding mode surface is designed to improve the transient performance and tracking accuracy of the system,a distributed adaptive finite-time integral sliding mode controller is designed to compensate for the influence of external disturbances while realising finitetime platoon control of the connected vehicle system under the condition of arbitrary initial spacing error.In addition,the string stability of the overall system is ensured.To address the problem of platoon control of connected vehicles with uncertain parameters subject to external perturbations,a second-order sliding model-based finitetime extended state observer and a platoon controller are designed to achieve finite-time disturbance compensation and stable control of the platoon system.A super twisting based extended state observer is designed to achieve fast and accurate estimation of the lumped disturbance of the system.A distributed finite-time continuous controller based on the super twisting is designed to achieve closed-loop stability and string stability of the connected vehicle platoon system.To address the problem of distributed platoon control of connected vehicle systems without velocity measurements,we design a fast non-singular terminal sliding mode-based extended state observer and a platoon controller to achieve velocity estimation,disturbance compensation and stable control of the platoon system in finite time.Firstly,a fast non-singular terminal sliding-mode based extended state observer is proposed to estimate velocity and time-varying disturbances fast.Then,a fast non-singular terminal sliding-mode control algorithm based on a double power reaching law is proposed to achieve safe,comfortable and fast platoon control of connected vehicles without considering zero or non-zero initial spacing error conditions.To address the problem of output feedback platoon control of connected vehicles under actuator constraints,an output feedback-based anti-windup platoon controller is designed that can ensure the input-to-output string stability of the platoon system.A state observer is designed to address the unmeasurable of velocity and acceleration information.Considering the connected vehicle system without input saturation,a high performance nominal output feedback platoon controller is designed.Then consider the input saturated connected vehicle system,an anti-windup compensation loop is designed to realize the safe and stable platoon control of actuator limited connected vehicle system.To address the problem of bandwidth-constrained output feedback platoon control of connected vehicles,the output feedback-based dynamic event-triggered mechanism and platoon controller are designed to achieve asymptotically stable.a state observer is designed to address the unmeasurable of velocity and acceleration information.Then,an output-based adaptive dynamic event-triggered mechanism is designed in combination with an open-loop estimator to schedule communication resources and avoid real-time monitoring of neighbouring vehicles’ information.In addition,coupling weights are designed that is not dependent on the global information of the system.Finally,a fully distributed output feedback platoon controller based on the adaptive dynamic eventtriggered mechanism is proposed to achieve platoon control and reduce the consumption of communication resources for connected vehicle systems under bandwidth constraints.