Adaptive Fuzzy Fault-Tolerant Formation Control for Third-Order Heterogeneous Vehicle Platoon System with Intermittent Actuator Faults

Zhiting zhou, Kewen Li, Li Yongming

Abstract: This paper investigates the problem of prescriptive performance tolerant control of a heterogeneous vehicle platoon with intermittent actuator failures. A finite time prescribed performance function is then suggested, which makes use of the prescribed performance control (PPC) technique. This can prevent collisions and maintain connectivity between nearby vehicles while guaranteeing that the platoon system’s tracking error converges to a predefined region within a prescribed amount of time. Then, in the context of a sliding mode control approach, an adaptive fault-tolerant platoon control scheme is proposed by incorporating a fuzzy logic system (FLS) to compensate for the effect of actuator faults. This system guarantees that all signals in the closed-loop system are actually finite time stable and demonstrates the ability to ensure both the individual vehicle stability and string stability. And finally, a four-vehicle platoon is numerical simulation was carried out to show the effectiveness of the proposed algorithm.

Submission Number: 26