Vehicle queue sliding mode control method and system based on actuator fault compensation

Abstract

The invention discloses a vehicle queue sliding mode control method and system based on actuator fault compensation. The method comprises the steps that state parameters of all vehicles in a vehicle queue are acquired; constructing an actuator fault model in the vehicle queue system, and determining the control input quantity of each vehicle according to the fault model; establishing a vehicle queue system based on the state parameter and the control input quantity of each vehicle; according to the vehicle queue system, constructing a sliding mode surface of each vehicle; based on the sliding mode surface of each vehicle, coupling sliding mode surfaces of other vehicles except the last vehicle in the vehicle queue are constructed, and then a corresponding adaptive fault compensation controller is determined; based on the sliding mode surface of each vehicle, a coupling sliding mode surface of the last vehicle in the vehicle queue is constructed, and then a corresponding adaptive fault compensation controller is determined; and the fault compensation controller is used for controlling the vehicle queue. A self-adaptive fault compensation controller is adopted, and a control strategy can be automatically adjusted according to real-time state parameters of a vehicle and dynamic changes of a queue system.

Description

Technical Field

[0001] The present application belongs to the technical field of vehicle platoon control, and in particular relates to a vehicle platoon sliding mode control method and system based on actuator fault compensation. Background Art

[0002] As air pollution and traffic congestion become increasingly serious, intelligent transportation systems have received more and more attention. As an important part of intelligent transportation systems, the vehicle platoon control problem has been widely studied. It requires vehicles to travel in platoons with a small distance between vehicles according to a given spacing strategy. It is an effective way to reduce energy consumption and improve transportation efficiency in the field of intelligent transportation.

[0003] Due to the influence of the operating environment and the vehicle's own modeling, external disturbances caused by wind, road conditions, etc. and model uncertainty have become important factors that restrict the control performance of the fleet. Improving the robustness of the system and effectively alleviating the influence of the above factors have become the prerequisites for selecting the control algorithm. Sliding mode control is widely used to solve the control problem of vehicle platoons due to its advantages such as strong robustness, fast response speed, and insensitivity to parameter disturbances.

[0004] In a vehicle platoon system, if an actuator fails, the control instructions may not be executed accurately, resulting in a decrease in the stability of the vehicle platoon. Therefore, it is necessary to propose an adaptive sliding mode control method that can compensate for actuator failures. Summary of the invention

[0005] The technical purpose of the present application is to solve the technical problem of actuator failure in a vehicle platoon system, and to propose a vehicle platoon sliding mode control method and system based on actuator failure compensation.

[0006] In order to achieve the above technical objectives, this application adopts the following technical solutions.

[0007] In a first aspect, an embodiment of the present application provides a vehicle platoon sliding mode control method based on actuator fault compensation, comprising:

[0008] Acquire state parameters of each vehicle in the vehicle queue, wherein the state parameters include mass and current speed;

[0009] Constructing an actuator fault model for the vehicle queue, and determining a control input amount for each vehicle according to the actuator fault model;

[0010] Based on the state parameters and control input of each vehicle, a vehicle platoon system is established according to Newton's second law and force analysis;

[0011] According to the vehicle platoon system, a sliding surface is constructed for each vehicle; based on the sliding surface of each vehicle, a coupled sliding surface of the remaining vehicles in the vehicle platoon except the last vehicle is constructed to thereby determine a corresponding adaptive fault compensation controller; based on the sliding surface of each vehicle, a coupled sliding surface of the last vehicle in the vehicle platoon is constructed to thereby determine a corresponding fault compensation controller;

[0012] The vehicle train is controlled using the adaptive fault compensation controller.

[0013] Furthermore, the expression of the actuator fault model is as follows:

[0014]

[0015] Among them, 1≤i≤n, n is the total number of vehicles in the vehicle queue, u i is the control input of the i-th vehicle, ρ i represents the failure factor of the i-th vehicle, θ i represents the deviation fault of the i-th vehicle, represents the input signal of the actuator of the i-th vehicle, t is the time, T f is the time when the failure occurred.

[0016] Further, the vehicle platoon system is expressed as:

[0017]

[0018] Among them, r i is the position of the i-th vehicle, For r i The first derivative of i is the speed of the i-th vehicle, For v i First-order derivative, u i is the control input of the i-th vehicle, a i is the first bounded variable of the i-th vehicle, b i is the second bounded variable of the i-th vehicle, c i is the third bounded variable of the i-th vehicle, is the first constant coefficient of the i-th vehicle, is the second constant coefficient of the i-th vehicle, is the third constant coefficient of the i-th vehicle;

[0019] a i =A i / M i , b i =B i / M i ;c i =Ci / M i ;

[0020] A i ,B i ,C i are the first uncertain variable of the i-th vehicle, the second uncertain variable of the i-th vehicle, and the third uncertain variable of the i-th vehicle, respectively. i is the mass of the i-th vehicle, 1≤i≤n, and n is the total number of vehicles in the vehicle queue.

[0021] Furthermore, the method further comprises: constructing a sliding surface for each vehicle according to the vehicle platoon system, comprising:

[0022] Based on the vehicle platoon system, determining a position difference between two adjacent vehicles;

[0023] Comparing the position difference with the required distance between two adjacent vehicles to determine the position tracking compensation error of each vehicle;

[0024] Constructing a variable error for each vehicle based on the position tracking compensation error of each vehicle and a corresponding preset performance control parameter;

[0025] According to the variable errors of each vehicle, a sliding surface of each vehicle is constructed.

[0026] Furthermore, the sliding surface expression of each vehicle is as follows:

[0027]

[0028] Among them, n i is the sliding surface of the i-th vehicle, ξ i is the variable error of the i-th vehicle, For i The first derivative of i is the design parameter of the i-th vehicle, 1≤i≤n, and n is the total number of vehicles in the vehicle queue.

[0029] Furthermore, the coupled sliding mode surface of the remaining vehicles in the vehicle queue except the last vehicle is expressed as:

[0030] N k =β k n k -n k+1 ;

[0031] Where, 1≤k≤n-1, n is the total number of vehicles in the vehicle queue, N k represents the coupled sliding surface of the kth vehicle, β k represents the weight factor of the kth vehicle, n k represents the sliding surface of the kth vehicle; n k+1represents the sliding surface of the k+1th vehicle.

[0032] Furthermore, the coupled sliding surface of the last vehicle in the vehicle queue is expressed as:

[0033] N n =β n n n ;

[0034] Among them, N n represents the coupled sliding surface of the nth vehicle, β n Represents the weight factor of the nth vehicle, n n represents the sliding surface of the nth vehicle, and n is the total number of vehicles in the vehicle queue.

[0035] 8. The vehicle platoon sliding mode control method based on actuator fault compensation according to claim 4 is characterized in that:

[0036] The coupled sliding surface of the remaining vehicles in the vehicle queue except the last vehicle is then used to determine the corresponding adaptive fault compensation controller, which is expressed as:

[0037]

[0038] Where, 1≤k≤n-1, n is the total number of vehicles in the vehicle queue, represents the input signal of the actuator of the kth vehicle, ρ k represents the failure factor of the kth vehicle, k k is the preset positive parameter of the kth vehicle, η k represents the preset performance control parameters of the kth vehicle, η i represents the preset performance control parameters of the i-th vehicle, 1≤i≤n; β k represents the weight factor of the kth vehicle, N k represents the coupled sliding surface of the kth vehicle; D k is the intermediate parameter of the kth vehicle, and its expression is:

[0039] where r k-1 is the position of the k-1th vehicle, For r k-1 The second-order derivative of are the first constant coefficients of the kth vehicle respectively. The estimated value of the k-th vehicle's second constant coefficient The estimated value of and the third constant coefficient of the kth vehicle The estimated value of θ k represents the deviation fault of the kth vehicle.

[0040] In a second aspect, an embodiment of the present application provides a vehicle platoon sliding mode control system based on actuator fault compensation, comprising:

[0041] A parameter acquisition module, used to acquire the state parameters of each vehicle in the vehicle queue, wherein the state parameters include mass and current speed;

[0042] a model building module, for building an actuator fault model of the vehicle queue, determining a control input of each vehicle according to the actuator fault model; building a vehicle queue system based on the state parameters and control input of each vehicle, according to Newton's second law and force analysis; building a sliding surface of each vehicle according to the vehicle queue system; building a coupled sliding surface of the remaining vehicles in the vehicle queue except the last vehicle based on the sliding surface of each vehicle, and then determining a corresponding adaptive fault compensation controller; building a coupled sliding surface of the last vehicle in the vehicle queue based on the sliding surface of each vehicle, and then determining a corresponding fault compensation controller;

[0043] A control module is used to control the vehicle queue using the adaptive fault compensation controller.

[0044] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and wherein when the program is executed by a processor, the sliding mode control method for a vehicle queue based on actuator fault compensation as described above is implemented.

[0045] Compared with the prior art, the vehicle queue sliding mode control method and system based on actuator fault compensation provided in the embodiment of the present application considers the coupling relationship between vehicles in the vehicle queue and determines the compensation controller by constructing a coupling sliding mode surface. Whether it is for a group of vehicles other than the last vehicle or for the last vehicle alone, it can better coordinate the actions between the vehicles, improve the overall coordination performance of the queue, and reduce the unstable factors caused by poor coordination between vehicles; an adaptive fault compensation controller is adopted, and the control strategy can be automatically adjusted according to the real-time state parameters of the vehicle and the dynamic changes of the queue system; precise control and effective compensation for actuator faults can ensure that a reasonable and stable spacing is maintained between vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The drawings described herein are for explanation purposes only and are not intended to limit the scope of the present application in any way. In addition, the shapes and proportional dimensions of the components in the drawings are only for illustration purposes and are used to help understand the present application. They do not specifically limit the shapes and proportional dimensions of the components of the present application. Under the guidance of the present application, those skilled in the art can select various possible shapes and proportional dimensions to implement the present application according to specific circumstances. In the drawings:

[0047] Figure 1 It is a flow chart of a vehicle platoon sliding mode control method based on actuator fault compensation provided in an embodiment of the present application;

[0048] Figure 2 is a schematic diagram of position tracking compensation error of a vehicle queue in one embodiment of the present application;

[0049] Figure 3 is a schematic diagram of position tracking compensation error of a vehicle queue in another embodiment of the present application;

[0050] Figure 4 is a schematic diagram of position tracking compensation error of a vehicle queue in another embodiment of the present application;

[0051] Figure 5 is a schematic diagram of position curves of all vehicles in a vehicle queue in one embodiment of the present application;

[0052] Figure 6 is a schematic diagram of position curves of all vehicles in a vehicle queue in another embodiment of the present application;

[0053] Figure 7 is a schematic diagram of position curves of all vehicles in a vehicle queue in another embodiment of the present application;

[0054] Figure 8 is a schematic diagram of position curves of all vehicles in a vehicle queue in yet another embodiment of the present application;

[0055] Fig. 9 A schematic diagram of control inputs for all vehicles in an embodiment of the present application;

[0056] Fig.10 is a schematic diagram of control inputs for all vehicles in another embodiment of the present application;

[0057] Fig.11 is a schematic diagram of control inputs for all vehicles in another embodiment of the present application;

[0058] Fig.12 is a schematic diagram of control inputs for all vehicles in yet another embodiment of the present application;

[0059] Fig.13 A schematic diagram of the speed of a vehicle in an embodiment of the present application;

[0060] Fig.14 is a schematic diagram of the speed of a vehicle in another embodiment of the present application;

[0061] Fig.15 is a schematic diagram of the speed of a vehicle in another embodiment of the present application;

[0062] Fig.16 is a schematic diagram of the speed of a vehicle in yet another embodiment of the present application;

[0063] Fig.17 It is a schematic diagram of the structure of a vehicle platoon sliding mode control system based on actuator fault compensation provided in an embodiment of the present application. DETAILED DESCRIPTION

[0064] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0065] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more features.

[0066] In order to solve the technical problem of actuator failure in a vehicle platoon system, the embodiment of the present application proposes a vehicle platoon sliding mode control method based on actuator failure compensation, including:

[0067] Step 1: Obtain the state parameters of each vehicle in the vehicle queue, including mass and current speed.

[0068] Step 2: Construct an actuator failure model for the vehicle platoon and determine the control input for each vehicle based on the actuator failure model.

[0069] In some embodiments, the actuator fault model expression is:

[0070]

[0071] Among them, 1≤i≤n, n is the total number of vehicles in the vehicle queue, u i is the control input of the i-th vehicle, ρ i represents the failure factor of the i-th vehicle, θ i represents the deviation fault of the i-th vehicle, represents the input signal of the actuator of the i-th vehicle, t is the time, T f is the time when the failure occurred.

[0072] In the embodiment, the actuator fault can be divided into two types of faults. One type is the deviation from the fault model: when ρ i =0,θ i ≠0, a deviation fault occurs. No longer works and deviates to the fault value θ i; The second type is failure failure: when ρ i ∈(0,1),θ i = 0, a failure occurs and the actuator loses some of its effectiveness. i =0.6 means the actuator loses 40% of its efficiency.

[0073] By constructing a special actuator failure model and determining the control input of each vehicle based on this model, the entire control method can fully consider the possible failure of the actuator. When an actuator fails, the system can still adjust based on the corresponding strategy instead of simply failing, which effectively enhances the adaptability to actuator failures and improves the robustness of the system.

[0074] Step 3: Based on the state parameters and control input of each vehicle, a vehicle platoon system is established according to Newton's second law and force analysis.

[0075] In specific implementation, an initial vehicle queue system can be established, and the expression is:

[0076] (2)

[0078] Among them, M i is the mass of the i-th vehicle, r i and v i are the position and speed of the i-th vehicle, For r i The first derivative of For v i First-order derivative, F i is the control input, which represents the traction or braking force of the i-th vehicle, f i The driving resistance.

[0079] In general, f i Rolling resistance f r , air resistance f w and slope resistance f g The influence of factors such as can be expressed as:

[0080] f i =f r +f w +f g

[0081] Among them, f r ,f g ,f w The display form can be written as follows.

[0082] (1) Rolling resistance f r :

[0083] f r =Wk;

[0084] Where W is the normal load, k is the rolling resistance coefficient: k=0.0076+0.000056v, and v is the vehicle speed.

[0085] (2) Air resistance f w :

[0086]

[0087] Among them, C D is the air resistance coefficient, A is the frontal area of ​​the vehicle, and ρ is the air density.

[0088] (3) Slope resistance f g :

[0089] If a vehicle is driving on a hill, the component of gravity in the direction of the slope is defined as the slope resistance:

[0090] f g =Gsinα;

[0091] Among them, G and α are gravity and road slope respectively.

[0092] Since k,C D ,ρ is an uncertain heterogeneous value for different vehicles, so f i It is time-varying under different driving speeds and road conditions. For the convenience of study, it is written as:

[0093]

[0094] Among them, A i ,B i ,C i is an unknown time-varying value, representing the uncertainty of the driving resistance.

[0095] Therefore, the initial fleet control system, formula (2), can be rewritten as:

[0096]

[0097] Among them, u i :=F i / M i is the control input of the i-th vehicle, a i :=A i / M i , b i :=B i / M i , c i :=C i / M iTo consider the vehicle mass M i The vehicle driving resistance coefficient affected by the i , b i , c i is a bounded variable, let:

[0098] Step 4: According to the vehicle platoon system, construct the sliding surface of each vehicle; based on the sliding surface of each vehicle, construct the coupled sliding surface of the remaining vehicles in the vehicle platoon except the last vehicle and then determine the corresponding adaptive fault compensation controller; based on the sliding surface of each vehicle, construct the coupled sliding surface of the last vehicle in the vehicle platoon and then determine the corresponding adaptive fault compensation controller.

[0099] Step 5: Use an adaptive fault compensation controller to control the vehicle queue.

[0100] In some implementations, in step 4, a sliding surface for each vehicle is constructed according to the vehicle platoon system, including: determining a position difference between two adjacent vehicles based on the vehicle platoon system; comparing the position difference with a required distance between two adjacent vehicles to determine a position tracking compensation error for each vehicle, and constructing a variable error for each vehicle according to the position tracking compensation error for each vehicle and a corresponding preset performance control parameter; and constructing a sliding surface for each vehicle according to the variable error for each vehicle.

[0101] In the embodiment, the position tracking compensation error of each vehicle is expressed as:

[0102] e i =(r i-1 -r i )-d (3)

[0104] Among them, r i is the position of the i-th vehicle, r i-1 is the position of the i-1th vehicle, and d is a constant representing the required distance between two consecutive vehicles.

[0105] from Figure 2-Figure 4 It can be seen that adjacent vehicles maintain an ideal driving distance to ensure driving safety.

[0106] According to the position tracking compensation error of each vehicle and the corresponding preset performance control parameters, the variable error of each vehicle is constructed. In order to keep the vehicle spacing error within the preset range, the preset performance control technology is introduced. The variable error of the i-th vehicle is expressed as follows:

[0107]

[0108] in, is the performance function, satisfying ηi0 >η i∞ >0,a i >0 is a pre-designed performance control parameter. η i0 represents the distance between vehicle i and the leading vehicle at the initial moment, η i∞ Expressed as the target or ideal following distance, the constant interval that all following vehicles are expected to maintain over a long period of time, both of which are constants.

[0109] Furthermore, in order to verify the stability of the vehicle platoon, a sliding surface is constructed:

[0110]

[0111] Among them, α i >0 is the design parameter of the i-th vehicle.

[0112] In addition, for the last car n n+1 =0, Based on (5), the coupled sliding mode surface of the kth vehicle is:

[0113] N k =β k n k -n k+1 (6)

[0114] Where, 1≤k≤n-1, n is the total number of vehicles in the vehicle queue, N k represents the coupled sliding surface of the kth vehicle, β k represents the weight factor of the kth vehicle, n k represents the sliding surface of the kth vehicle; n k+1 represents the sliding surface of the k+1th vehicle.

[0115] Among them, β i >0(i=1,2,…,n) is the weight factor. Therefore, n i The derivative of is:

[0116]

[0117] According to (4), we can calculate and for

[0118]

[0119] Therefore, when 1≤k≤n-1, we know that:

[0120]

[0121] in,

[0122]

[0123] Based on this, the adaptive fault compensation controller of the kth vehicle is designed as:

[0124]

[0125] Among them, k k is the positive parameter to be designed, is the unknown constant coefficient The estimated value of is:

[0126]

[0127] Design the adaptive estimation law as:

[0128]

[0129] Among them, λ1,λ2,λ3>0 are positive numbers. In particular, when i=n, ​​based on (6), we know that N n =β n n n .therefore

[0130]

[0131] in,

[0132]

[0133] where θ n Indicates the deviation fault of the nth vehicle.

[0134] Based on this, the adaptive fault compensation controller of the nth vehicle is designed as:

[0135]

[0136] Among them, k n is the positive parameter of the nth vehicle to be designed. represents the input signal of the actuator of the nth vehicle, ρ n represents the failure factor of the nth vehicle, k n is the preset positive parameter of the nth vehicle, η n represents the preset performance control parameters of the nth vehicle, β n Represents the weight factor of the nth vehicle, N n represents the coupled sliding surface of the nth vehicle; D n is the intermediate parameter of the nth vehicle, and the adaptive law is designed as:

[0137]

[0138] In the embodiment, fault compensation controllers are constructed respectively for different vehicles, especially for the last vehicle and the remaining vehicles except it, coupled sliding surfaces are constructed to determine the corresponding controllers, which can accurately compensate for the impact of the actuator failure on each vehicle, help to reduce the vehicle motion state deviation caused by the failure, and ensure that the vehicle can still maintain the expected operating state as much as possible under the fault condition.

[0139] In an embodiment, the vehicle platoon sliding mode control method based on actuator fault compensation may further include: by continuously adjusting the fault compensation controller and the adaptive law parameters, so that the performance of the vehicle platoon system reaches a predetermined performance indicator.

[0140] from Figure 5-Figure 8 It can be seen that the vehicle will not collide during the entire driving cycle; Figure 9-12 It can be seen that better vehicle platooning performance is obtained and driving comfort is improved; Figure 13-Figure 16 It can be clearly seen that the speed of the following vehicle will approach the speed of the leading vehicle.

[0141] As an example, after obtaining the fault compensation controller formula (11), the adaptive law formula (3), the fault compensation controller formula (15) and the adaptive law formula (16), the vehicle platoon system needs to be verified for stability as follows. To this end, the following Lyapunov function is used for verification:

[0142]

[0143] in,

[0144]

[0145] right The time derivative of can be calculated as:

[0146]

[0147] Substituting equation (10) into equation (17) yields:

[0148]

[0149] In addition, it can be seen that:

[0150]

[0151] Substituting formula (19) into the formula, we get:

[0152]

[0153] therefore:

[0154]

[0155] According to the Lyapunov stability criterion, based on formula (21), it can be seen that the variable error formula (4) of the vehicle platoon system is in an asymptotically stable state.

[0156] The vehicle platoon sliding mode control method based on actuator fault compensation provided in the embodiment of the present application has the following beneficial effects: a force analysis is performed on the vehicle platoon system to establish a dynamic equation, and then a state space expression is established by selecting appropriate state variables, and a coupled sliding mode surface is used to connect interconnected vehicles. An adaptive control method is used to estimate the change in the drag coefficient, and the designed fault compensation controller can effectively compensate for actuator faults in the vehicle platoon system, ensure the safety of the vehicle, improve the maneuverability of the complex vehicle system, and ensure the stability of the vehicle platoon system.

[0157] The controller designed in this application has strong pertinence and operability for the compensation control of actuator failure, and has certain reference significance for the controller design of other vehicle platoon systems and the solution to the actuator failure problem of vehicle platoon systems.

[0158] Based on the same inventive concept as the vehicle platoon sliding mode control method based on actuator fault compensation provided in the above embodiment, the embodiment of the present application further provides a vehicle platoon sliding mode control system based on actuator fault compensation, such as Fig.17 As shown, it includes a parameter acquisition module, a model building module and a control module.

[0159] The parameter acquisition module is used to obtain the state parameters of each vehicle in the vehicle queue, and the state parameters include mass and current speed.

[0160] The model building module is used to build the actuator fault model of the vehicle queue, and determine the control input of each vehicle according to the actuator fault model; based on the state parameters and control input of each vehicle, according to Newton's second law and force analysis, the vehicle queue system is established; based on the vehicle queue system, the sliding surface of each vehicle is constructed; based on the sliding surface of each vehicle, the coupled sliding surface of the remaining vehicles in the vehicle queue except the last vehicle is constructed to determine the corresponding adaptive fault compensation controller; based on the sliding surface of each vehicle, the coupled sliding surface of the last vehicle in the vehicle queue is constructed to determine the corresponding adaptive fault compensation controller. The control module is used to control the vehicle queue using the fault compensation controller.

[0161] It can be understood that each module in the vehicle platoon sliding mode control system based on actuator fault compensation can implement the steps of the vehicle platoon sliding mode control method based on actuator fault compensation, but the system implemented by the vehicle platoon sliding mode control method based on actuator fault compensation is not limited to the vehicle platoon sliding mode control system based on actuator fault compensation.

[0162] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the program is executed by a processor, the vehicle queue sliding mode control method based on actuator fault compensation as described above is implemented.

[0163] The above is a detailed introduction to the vehicle platoon sliding mode control method and system based on actuator fault compensation provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the concept of the present application and should not be construed as limiting the scope of protection of the present application.

Claims

1. A vehicle platoon sliding mode control method based on actuator fault compensation, characterized in that: include: Acquire state parameters of each vehicle in the vehicle queue, wherein the state parameters include mass and current speed; constructing an actuator fault model of the vehicle train, and determining a control input amount of each vehicle according to the actuator fault model; Based on the state parameters and control input of each vehicle, a vehicle platoon system is established according to Newton's second law and force analysis; According to the vehicle platoon system, a sliding surface is constructed for each vehicle; based on the sliding surface of each vehicle, a coupled sliding surface of the remaining vehicles in the vehicle platoon except the last vehicle is constructed to thereby determine a corresponding adaptive fault compensation controller; based on the sliding surface of each vehicle, a coupled sliding surface of the last vehicle in the vehicle platoon is constructed to thereby determine a corresponding fault compensation controller; The vehicle train is controlled using the adaptive fault compensation controller.

2. The vehicle platoon sliding mode control method based on actuator fault compensation according to claim 1, characterized in that: The expression of the actuator fault model is as follows: Among them, u i is the control input of the i-th vehicle, ρ i represents the failure factor of the i-th vehicle, θ i represents the deviation fault of the i-th vehicle, represents the input signal of the actuator of the i-th vehicle, t is the time, T f is the time when the failure occurs, 1≤i≤n, and n is the total number of vehicles in the vehicle queue.

3. The vehicle platoon sliding mode control method based on actuator fault compensation according to claim 1, characterized in that: The vehicle platoon system is expressed as: Among them, r i is the position of the i-th vehicle, For r i The first derivative of i is the speed of the i-th vehicle, For v i First-order derivative, u i is the control input of the i-th vehicle, a i is the first bounded variable of the i-th vehicle, b i is the second bounded variable of the i-th vehicle, c i is the third bounded variable of the i-th vehicle, is the first constant coefficient of the i-th vehicle, is the second constant coefficient of the i-th vehicle, is the third constant coefficient of the i-th vehicle; a i =A i / M i ,b i =B i / M i ;c i =C i / M i ; A i , B i and C i are the first uncertain variable of the i-th vehicle, the second uncertain variable of the i-th vehicle, and the third uncertain variable of the i-th vehicle, respectively. i is the mass of the i-th vehicle, 1≤i≤n, and n is the total number of vehicles in the vehicle queue.

4. The vehicle platoon sliding mode control method based on actuator fault compensation according to claim 1, characterized in that: The method further includes: constructing a sliding surface for each vehicle according to the vehicle platoon system, including: Based on the vehicle platoon system, determining a position difference between two adjacent vehicles; Comparing the position difference with the required distance between two adjacent vehicles to determine the position tracking compensation error of each vehicle; Constructing a variable error for each vehicle based on the position tracking compensation error of each vehicle and a corresponding preset performance control parameter; According to the variable errors of each vehicle, a sliding surface of each vehicle is constructed.

5. The vehicle platoon sliding mode control method based on actuator fault compensation according to claim 4 is characterized in that: The sliding surface expression of each vehicle is as follows: Among them, n i is the sliding surface of the i-th vehicle, ξ i is the variable error of the i-th vehicle, For i The first derivative of i is the design parameter of the i-th vehicle, 1≤i≤n, and n is the total number of vehicles in the vehicle queue.

6. The vehicle platoon sliding mode control method based on actuator fault compensation according to claim 1, characterized in that: The coupled sliding surface of the remaining vehicles in the vehicle queue except the last vehicle is expressed as: N k =b k n k -n k+1 ; Among them, N k represents the coupled sliding surface of the kth vehicle, β k represents the weight factor of the kth vehicle, n k represents the sliding surface of the kth vehicle; n k+1 represents the sliding surface of the k+1th vehicle, 1≤k≤n-1, and n is the total number of vehicles in the vehicle queue.

7. The vehicle platoon sliding mode control method based on actuator fault compensation according to claim 1, characterized in that: The coupled sliding surface of the last vehicle in the vehicle platoon is expressed as: N n =b n n n ; Among them, N n represents the coupled sliding surface of the nth vehicle, β n Represents the weight factor of the nth vehicle, n n represents the sliding surface of the nth vehicle, and n is the total number of vehicles in the vehicle queue.

8. The vehicle platoon sliding mode control method based on actuator fault compensation according to claim 1, characterized in that: The coupled sliding surface of the remaining vehicles in the vehicle queue except the last vehicle is then used to determine the corresponding adaptive fault compensation controller, which is expressed as: Where, 1≤k≤n-1, n is the total number of vehicles in the vehicle queue, represents the input signal of the actuator of the kth vehicle, ρ k represents the failure factor of the kth vehicle, k k is the preset positive parameter of the kth vehicle, η k represents the preset performance control parameters of the kth vehicle, β k represents the weight factor of the kth vehicle, N k represents the coupled sliding surface of the kth vehicle; D k is the intermediate parameter of the kth vehicle, and its expression is: where r k-1 is the position of the k-1th vehicle, For r k-1 The second-order derivative of are the first constant coefficients of the kth vehicle respectively. The estimated value of the k-th vehicle's second constant coefficient The estimated value of and the third constant coefficient of the kth vehicle The estimated value of θ k represents the deviation fault of the kth vehicle.

9. A vehicle platoon sliding mode control system based on actuator fault compensation, characterized in that: include: A parameter acquisition module, used to acquire the state parameters of each vehicle in the vehicle queue, wherein the state parameters include mass and current speed; a model building module, for building an actuator fault model of the vehicle queue, determining a control input of each vehicle according to the actuator fault model; building a vehicle queue system based on the state parameters and control input of each vehicle, according to Newton's second law and force analysis; building a sliding surface of each vehicle according to the vehicle queue system; building a coupled sliding surface of the remaining vehicles in the vehicle queue except the last vehicle based on the sliding surface of each vehicle, and then determining a corresponding adaptive fault compensation controller; building a coupled sliding surface of the last vehicle in the vehicle queue based on the sliding surface of each vehicle, and then determining a corresponding fault compensation controller; A control module is used to control the vehicle queue using the adaptive fault compensation controller.

10. A computer-readable storage medium storing a computer program, characterized in that: When the program is executed by a processor, the vehicle platoon sliding mode control method based on actuator fault compensation as described in any one of claims 1 to 8 is implemented.

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