弹道
排
控制理论(社会学)
轨迹优化
背景(考古学)
控制器(灌溉)
缩小
凸优化
理论(学习稳定性)
跟踪(教育)
跟踪误差
计算机科学
最优化问题
滑模控制
最优控制
数学
数学优化
正多边形
控制(管理)
非线性系统
机器学习
人工智能
古生物学
物理
天文
生物
量子力学
教育学
心理学
农学
几何学
作者
Ge Guo,Ziwei Zhao,Renyongkang Zhang
出处
期刊:IEEE Transactions on Vehicular Technology
[Institute of Electrical and Electronics Engineers]
日期:2023-02-01
卷期号:72 (2): 1478-1487
被引量:8
标识
DOI:10.1109/tvt.2022.3212023
摘要
This paper investigates a distributed trajectory optimization and trajectory tracking control problem for a collection of vehicles. A two-layered framework is established for distributed trajectory optimization and fixed-time tracking control. The trajectory optimization problem is solved using distributed convex optimization based on spacing errors minimization, resulting in an algorithm to provide the optimal trajectory for all following vehicles. The lower layer plays the role of tracking the designated trajectory and robustly guarantee zero steady-state spacing errors for the vehicular platoon. The controller is derived based on the tracking error system in the context of fixed-time stability and terminal sliding mode control theory. The methodology can guarantee the internal stability and string stability, as demonstrated by numerical simulations.
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