摘要
针对反馈线性控制器在实际情况中可能受路面湿度等因素的影响,使其参数具有不确定性的缺陷,设计了基于变量估计的自适应反馈线性控制器,提高控制器参数中的相对距离的精确度。在Matlab/Simulink环境下进行仿真对比实验,实验结果验证了自适应编队控制方法的有效性,并且其在误差调整时间方面和抗扰性方面优于传统反馈线性控制方法。自适应编队控制方法在未来的智能交通方面具有一定应用价值。
The parameters of traditional feedback linear formation controller maybe uncertain due to the influence of road humidity.Aiming at the disadvantage,this paper designs an adaptive feedback linear controller based on variable estimation.And the accuracy of relative distance is improved.In order to verify the effectiveness of the algorithm,simulation experiments are taken by using Matlab/Simulink.The experimental results show that the adaptive control method is valid and it has shorter adjustment time and better interference immunity than the traditional feedback linear control method.And research conclusion has certain application value in intelligent transportation in the future.
作者
黄健飞
马彦
HUANG Jianfei;MA Yan(College of Communication Engineering,Jilin University,Changchun 130022,China;State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130022,China)
出处
《吉林大学学报（信息科学版）》
CAS
2019年第3期253-259,共7页
Journal of Jilin University（Information Science Edition）
基金
吉林省产业创新专项资金资助项目(2018C035-2)
关键词
跟随领航者
车辆编队
自适应控制
仿真实验
leader-follower
formation control
adaptive control
simulation experiment
