Adaptive Resilient Control for Interconnected Vehicular Platoon With Fault and Saturation

Abstract

This paper investigates the problem of the interconnected heterogeneous vehicular platoon in the presence of actuator fault of a vehicle, actuator saturation, and complex environment disturbances such as road slope, wind gust, and so on. First of all, a quadratic spacing error policy is applied to improve the vehicle platoon stability despite any vehicle suffering from actuator fault. Then, adaptive estimation laws are introduced to tackle the complex environment disturbances and the unknown upper bound of the actuator saturation approximation function. A robust adaptive sliding mode resilient control law is proposed to achieve the resilient ability and ensure the platoon system recover to the stable states in finite-time even if the occurrence of actuator fault. Finally, the string stability in finite-time of the platoon system is proved, the interconnected heterogeneous vehicular platoon system with seven vehicles is utilized to demonstrate the validity of the proposed control scheme.