Intelligent connected vehicle cooperative formation control with uncertain parameters
In order to cope with the problem of uncertain changes of parameters caused by their own conditions and external disturbances interference in the cooperative formation control of in-telligent connected vehicles,a design method of observer-based consensus control protocol was proposed in the formation operation environment of intelligent connected vehicles.First,the ob-server was designed to achieve effective estimation of system status,measurable noise,external disturbances,etc.Secondly,the applicable distributed consensus control protocol was designed,and sufficient conditions for system stability were obtained by using Lyapunov functionals.Then,the problem of converting the gain matrix of the observer into a linear matrix inequality was solved.The linear matrix inequality method was used to obtain the specific value of the observer gain matrix to achieve accurate estimation of the system state and parameters.Finally,the system was simulated by Matlab on the basis of the given the specific parameters of the intelligent con-nected vehicles formation system,the situation of external disturbances in the system and the un-certainty in the parameters were simulated.The simulation results show that the internal input of the system converges after 15 time steps after consensus control;the observer can make effective estimation of the system state and external disturbances after 17 and 20 time steps,respectively,under the interference of uncertain parameters;and the correctness and feasibility of the designed method are verified from both theoretical and simulation aspects.
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