V2X环境下分布式驱动车辆轨迹跟踪与稳定性的分层协同控制OA

To address the trajectory tracking and stability coordination control of V2X-based distributed drive vehicles,this paper proposes a hierarchical control architecture integrating Model Predictive Control(MPC),Sliding Mode Observer(SMO),and reduced-order Dynamic Output Feedback(RDOF).First,the MPC trajectory planning layer generates desired trajectories with variable safety spacing based on V2X-acquired preceding vehicle states and road information.Second,the SMO estimates the sideslip angle and lumped disturbances in real-time,while an adaptive sliding mode controller compensates for steering deviations.Finally,a reduced-order RDOF controller optimized via LMI adjusts the yaw moment to suppress yaw-roll coupling instability.Experimental results demonstrate that the proposed method reduces the yaw rate error below 0.12 rad/s,stabilizes the roll angle within±1.2°,and achieves a single-step solving time of less than 5 ms,fulfilling real-time requirements.This approach effectively resolves conflicts between trajectory tracking and stability control,enhancing robustness and safety in multi-vehicle cooperative scenarios.