Research On Vehicle Formation Control Based On Robust Adaptive Control Algorithm

As one of the important issues in cooperative infrastructure vehicle system, vehicle formation is the collaboration and cooperation between cars. In order to improve the effect of the vehicle formation, the relevant studies of formation control abroad and home are analyzed in this paper. According to the problem of uncertain system parameters, this paper designs adaptive control strategy by applying feedback linearization algorithm and adaptive control theory based on leader-follower error model. Then robust control strategy considering external interference is applied in this paper. Multi-vehicles formation is selected as research object in this paper. Minimum layers formation rule is determined according to leader-follower model and extended up to multi-vehicles model based on Graph theory. The work improves the stability and effectiveness of vehicle formation in complex environment. Following contents are researched in this paper:Firstly, leader-follower error model is showed. On the basis of vehicle structure model, this paper shows leader-follower kinematic model according to two vehicles’ following and geometry relationship. To simplify the problem of multi-vehicles formation, the basic leader-follower problem is studied.Secondly, the adaptive control strategy of leader-follower is designed. This paper shows feedback linearization control and designs adaptive control strategy for the uncertain system parameters according to adaptive control theory. Through theoretical analysis and simulation, adaptive controller is proved to be a good deal of uncertain system parameters, but it cannot address external interference.Thirdly, the robust control strategy of leader-follower is designed. On the basis of feedback linearization control and adaptive control, this paper designs robust control strategy for external interference. Through simulation under different conditions, stability and effectiveness of robust controller is verified in complex environment.Finally, the multi-vehicles formation rule is determined. This paper discusses the structure of multi-vehicles formation and determines minimum layers formation rule based on Graph theory and robust adaptive control. Robust adaptive control algorithm of leader-follower is extended up to multi-vehicles formation by this rule. The multi-vehicles formation simulation proves that robust adaptive control strategy and minimum layers formation rule are able to achieve satisfactory control performance of the vehicle formation.