Heterogeneous Security Platoon With Switching Topology Under Abnormal Communication With Limited Sensing And Communication

Unmanned vehicle formation has attracted extensive attention because of its advantages such as improving traffic safety,reducing road congestion and reducing carbon dioxide emissions.Cooperative adaptive cruise control technology enables unmanned vehicle formation to communicate with adjacent vehicles and obtain the speed information,acceleration information and relative distance information of other vehicles,so as to realize unmanned vehicle formation control.It can be seen that the communication efficiency and topology between vehicles affect the formation performance.However,in real life,different models of cars lead to different dynamic models.At the same time,due to the randomness of wireless communication,communication abnormalities may occur,resulting in the switching of communication topology in the formation,which will pose a challenge to the safe formation of unmanned vehicles.This paper focuses on the topic of switching topology unmanned vehicle heterogeneous security formation under abnormal communication,and mainly completes the following work:(1)An adaptive control algorithm is designed to deal with the uncertainty of dynamic parameters of heterogeneous unmanned vehicles.Under the limited perception and communication scenario,the heterogeneous security formation of unmanned vehicles is realized,the communication bandwidth is reduced,and the robustness of unmanned vehicle formation is improved.Through the simulation of three communication topologies commonly used in collaborative adaptive control technology(Predecessor-only Following Topology,Leader-Predecessor Following Topology and Double Predecessor Following Topology),the heterogeneous unmanned vehicle formation control is realized,and the effectiveness of the algorithm is verified.(2)Solves the problem that the communication topology between formations changes due to abnormal communication.Aiming at two typical communication anomaly problems(communication loss and communication channel hijacking),an adaptive switching control scheme is proposed,which can ensure the safe formation control of unmanned vehicles in the case of communication topology change caused by communication anomaly,and the effectiveness of the scheme is verified by numerical simulation.