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论文与完整源程序_电网论文源程序的博客-CSDN博客https://blog.csdn.net/liang674027206/category_12531414.html
在单向拓扑结构下,车辆的移动方向和队列顺序受到限制,但异构车辆的不同特性可能会导致控制挑战。DMPC通过灵活的预测和优化机制,有效地应对这些挑战,确保即使在车辆特性不一致的情况下,整个车队也能够协调一致地移动。这种控制策略适用于各种实际应用,如智能交通系统和自动驾驶车队,能够提高系统的整体性能和安全性。
部分代码展示:
function Cost = Costfunction1(Np, Tim_step, X0, u, Vehicle_Type, Q, Xdes, R, F, Xa, G, Xnfa,Xnffa)
%UNTITLED3 Summary of this function goes here
% Detailed explanation goes here
Pp = zeros(Np,1); % Predictive Position
Vp = zeros(Np,1); % Predictive Velocity
Tp = zeros(Np,1); % Predictive Torque
Mass = Vehicle_Type(1);Radius = Vehicle_Type(2); g = Vehicle_Type(3);f = Vehicle_Type(4);
Eta = Vehicle_Type(5);Ca = Vehicle_Type(6);Tao = Vehicle_Type(7);
[Pp(1),Vp(1),Tp(1)] = VehicleDynamic(u(1),Tim_step,X0(1),X0(2),X0(3),Mass,Radius,g,f,Eta,Ca,Tao);
for i = 1:Np-1
[Pp(i+1),Vp(i+1),Tp(i+1)] = VehicleDynamic(u(i+1),Tim_step,Pp(i),Vp(i),Tp(i),Mass,Radius,g,f,Eta,Ca,Tao);
end
Xp = [Pp,Vp]; % Predictive State
Udes = Radius/Eta*(Ca*Vp.^2 + Mass*g*f);
U0 = Radius/Eta*(Ca*X0(2).^2 + Mass*g*f);
Cost = (X0(1:2)-Xdes(1,:))*Q*(X0(1:2)-Xdes(1,:))' + ...
(u(1)-U0)*R*(u(1)-U0) + (X0(1:2)-Xa(1,:))*F*(X0(1:2)-Xa(1,:))'+ ...
(X0(1:2)-Xnfa(1,:))*G*(X0(1:2)-Xnfa(1,:))'+(X0(1:2)-Xnffa(1,:))*G*(X0(1:2)-Xnffa(1,:))'; % 第一步的优化值
for i = 1:Np-1 %% 注意范数的定义问题, X'Q'QX
Cost = Cost + (Xp(i,:)-Xdes(i+1,:))*Q*(Xp(i,:)-Xdes(i+1,:))' + ...
(u(i+1)-Udes(i))*R*(u(i+1)-Udes(i)) + (Xp(i,:)-Xa(i+1,:))*F*(Xp(i,:)-Xa(i+1,:))'+ ...
(Xp(i,:)-Xnfa(i+1,:))*G*(Xp(i,:)-Xnfa(i+1,:))'+(X0(1:2)-Xnffa(1,:))*G*(X0(1:2)-Xnffa(1,:))';
end
end
效果展示:
173号资源-源程序:文档+程序-单向拓扑结构下异构车辆排的分布式模型预测控制-本人博客有解读资源-CSDN文库https://download.csdn.net/download/LIANG674027206/89700635👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆下载资源链接👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆
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