中文摘要：

针对基于网络的自主式车队控制这一重要课题，建立了充分考虑车队间通讯网络限制影响（如：网络量化、延时以及丢包的问题）的交叠式混合车队纵向控制模型．针对该车队系统设计分层式结构的控制器，第一层为反馈线性化控制器，第二层为分散式保性能控制器．通过顶层反馈线性化控制器消除车队系统的非线性，进而针对线性交叠系统设计分散式保性能控制器．该分散式保性能控制器解决了车队间通讯网络存在网络量化、延时及丢包的问题，不但实现车队的稳定运行控制，而且使车队控制效果大大改善．并通过仿真试验证明所获得的控制方法的有效性．

英文摘要：

The important issue of control of autonomous platoons on highways with networked communication effect is considered. Firstly, an overlapping hybrid model is established for the platoon＇ s longitudinal movement, in which the constraints induced by communication network （e. g. , timedelay, quantization and packet-dropout） are given full considerations and involved in the model for the first time. Then, a hierarchical platoon controller design framework is established, comprising a feedback linearization controller at the first layer and a guaranteed cost controller at the second layer. By reducing the nonlinear system to a linear model using the top layer feedback linearization controller, a decentralized guaranteed cost control algorithm is presented which has solution to quantization, delay and dropout on the platoon. Under this controller, the platoon can be stable. Simulations resuits show the effectiveness of the proposed approach.