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Vehicle formation method based on interconnected positive system theory

A positive system and vehicle technology, applied in the field of vehicle formation based on the interconnected positive system theory, can solve problems such as poor robustness

Active Publication Date: 2020-04-10
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, the existing methods have high requirements on the transmission rate and bandwidth during communication, and their robustness is poor.

Method used

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  • Vehicle formation method based on interconnected positive system theory
  • Vehicle formation method based on interconnected positive system theory
  • Vehicle formation method based on interconnected positive system theory

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0088] Example 1: figure 2 This is the description of Embodiment 1. Embodiment 1 only explains the principle of interconnected positive system formation with variable time delay under step input, and is not a limitation of the present invention. The number of leaders and followers is not limited.

[0089] figure 2 It is a BRT toll station automatic parking system with 4 vehicles. Vehicle 1 is the leader and vehicles 2, 3, and 4 are followers. After vehicle 1 is parked, the rest of the vehicles park in sequence, and the location information of vehicle 1 is α 0 , The position information of the followers constitutes a three-dimensional column vector. The formation goals are:

[0090]

[0091] Where δ i Is the distance between the i-th vehicle and the i+1 vehicle, and d is a constant value. Therefore, the formation goals are:

[0092]

[0093] The expression of the interconnected positive system is:

[0094]

[0095] among them,

[0096] Design the interconnection matrix so that the ...

Embodiment 2

[0100] Example 2: image 3 This is the description of the second embodiment. The second embodiment only explains the principle of the interconnected positive system formation with variable time delay under ramp input, and is not a limitation of the present invention. The number of leaders and followers is not limited.

[0101] figure 2 It is an automatic high-speed system with 4 vehicles. Vehicle 1 is a leader and vehicles 2, 3, and 4 are followers. Vehicle 1 travels at speed v, and the rest of the vehicles travel in sequence. It is expected that the speed of subsequent vehicles will also remain at v, and the position information of vehicle 1 0 (t) is vt+h, and the position information of the followers constitutes a three-dimensional column vector. The formation goals are:

[0102]

[0103] Where δ i (t) is the distance between the i-th vehicle and the i+1 vehicle. Therefore, the formation goals are:

[0104]

[0105] Considering that the variable time delay of the interconnected...

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Abstract

The invention discloses a vehicle formation method based on an interconnection positive system theory, the interconnection positive system is composed of all followers, signals of the interconnectionpositive system are input by a leader, and the signals are equivalent to external input of the interconnection positive system; the method comprises the following steps: step 1, establishing an interconnection positive system model with variable time delay under an external input condition; 2, when the leader outputs a step signal, constructing a subsystem interconnection matrix according to the step signal output to the interconnection positive system by the leader and a target formation pattern, so that the interconnection positive system meets formation conditions; and 3, when the leader outputs a slope signal, designing an external input signal of the interconnection positive system on the basis of the slope signal output by the leader according to the target formation pattern, and constructing a subsystem interconnection matrix to enable the interconnection positive system to meet formation conditions. According to the invention, the problem of variable time delay caused by the influence of information transmission bandwidth and transmission rate in the prior art is solved.

Description

Technical field [0001] The invention belongs to the field of multi-agent control, and specifically relates to a vehicle formation method based on the theory of interconnected positive systems. Background technique [0002] Formation control is one of the most widely concerned issues in the field of multi-agent research. The purpose of formation control is to drive the motion state of multiple agents to a prescribed form. Formation control is widely used in engineering, such as automatic highway, UAV formation flying, robot formation, satellite formation and other motion control. [0003] In the representation of the dynamic characteristics of a typical moving object, some simple dynamic systems such as integrators, first-order delays and their series and parallel are all positive. Therefore, the multi-agent system composed of simple subsystems can be regarded as an interconnected positive system, so formation control can be studied from the perspective of the positive system. [0...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0276
Inventor 沈俊黄守金
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS