排
控制理论(社会学)
控制器(灌溉)
滑模控制
执行机构
跟踪误差
垂直面
功能(生物学)
平面(几何)
模式(计算机接口)
理论(学习稳定性)
工程类
非线性系统
计算机科学
数学
控制(管理)
几何学
物理
结构工程
农学
人工智能
机器学习
电气工程
操作系统
生物
进化生物学
量子力学
作者
Manfei Lin,Cheng-Lin Liu,Ya Zhang,Yangyang Chen
标识
DOI:10.1016/j.isatra.2023.12.010
摘要
This paper focuses on the distributed adaptive sliding-mode control problem for two-dimensional (2-D) plane vehicle platoon with prescribed performance, angle constraints, and actuator faults. The quadratic spacing policy (QSP) is first adopted for the 2-D plane vehicle platoon to adjust the inter-vehicle spacing. The spacing error can converge within a finite time to the small region predetermined by a new finite-time performance function (FTPF). Meanwhile, a new transformed error function is introduced to convert the FTPF-constrained spacing errors into equivalent unconstrained ones. Besides, the property of the invertible nonlinear mapping function is used for the original system with the angle constraint to get a new unconstrained system. Moreover, a new controller based on hyperbolic tangent function is designed to handle actuator faults occurring multiple times over a period. Furthermore, the stability and string stability of the 2-D plane vehicle platoon are achieved through sliding-mode control. Finally, the simulation results validate the effectiveness of the proposed techniques.
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