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A vehicle cooperative control method based on non-singular fast terminal sliding mode control

A terminal sliding mode and cooperative control technology, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as the inability to guarantee system convergence, and achieve the effect of improving the follow-up effect

Active Publication Date: 2022-07-12
NANTONG UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the traditional sliding mode control has the characteristics of nonlinearity and strong robustness, it cannot guarantee that the system will converge to the sliding mode surface within a limited time, resulting in that the inter-vehicle distance error cannot tend to zero within a limited time

Method used

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  • A vehicle cooperative control method based on non-singular fast terminal sliding mode control
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  • A vehicle cooperative control method based on non-singular fast terminal sliding mode control

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Embodiment Construction

[0044] In order to further understand the present invention, the preferred embodiments of the present invention are described below with reference to examples, but it should be understood that these descriptions are only for further illustrating the features and advantages of the present invention, rather than limiting the claims of the present invention.

[0045] A vehicle cooperative control method based on non-singular fast terminal sliding mode control, comprising the following steps:

[0046] 1) Establish the longitudinal dynamics model of the vehicle as follows:

[0047]

[0048]

[0049] where m is the mass of the car, k d is the air resistance coefficient, k m is the mechanical resistance coefficient, d(t) represents the unknown external disturbance to the vehicle, τ is the time constant of the engine, and u is the control input of the vehicle.

[0050] Simplified to:

[0051]

[0052] Among them, a, b, c, and d are the set vehicle system parameters, which ...

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Abstract

The invention discloses a vehicle cooperative control method based on non-singular fast terminal sliding mode control. Based on the non-singular fast terminal sliding mode control method, this method designs a vehicle cooperative control method based on non-singular fast terminal sliding mode control. In this method, in order to improve the speed of the gap error of 0, based on the problem that the sliding mode control cannot tend to the sliding mode surface in a limited time, the non-singular fast terminal sliding mode surface is used to replace the ordinary sliding mode surface, which ensures the stability of the system at the same time. , so that the system can quickly approach the sliding surface. Through the simulation verification, it is obvious that based on the fleet cooperative control, the control effect of the non-singular fast terminal sliding mode control is better than that of the ordinary sliding mode control.

Description

technical field [0001] The invention relates to the field of automatic control systems, in particular to a vehicle cooperative control method based on non-singular fast terminal sliding mode control. Background technique [0002] The purpose of the research on multi-vehicle cooperative driving is to make full use of road conditions while considering road traffic safety and vehicle driving efficiency. Relevant fleet driving strategies, thereby increasing road traffic flow, ensuring road safety and reducing the occurrence of accidents. [0003] Due to the uncertainty of the driver's driving behavior and the vehicle dynamic model, the design of the tracking control system has always been a big problem. In recent years, scholars at home and abroad have used the sliding mode control method in the collaborative control of fleets. Although the traditional sliding mode control has the characteristics of nonlinearity and strong robustness, it cannot guarantee that the system conver...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042Y02T10/40
Inventor 王栗付建源华亮周霖费越许乾慧蔡国胜赵建博周嘉悦戴凌宇陈敏强陈曦
Owner NANTONG UNIVERSITY