Abstract
This paper investigates the control design for nonlinear connected vehicles (CV) systems with unknown actuator faults and saturation. A nonlinear model of the CV’s longitudinal movement is established, in which the unknown nonlinearity (e.g., the nonlinear dynamics, time-varying faults and saturation) is approximated via the adaptive fuzzy mechanism, and a nonlinear disturbance observer is established to estimate the lumped external disturbance. Based on the new model, a fuzzy adaptive sliding mode (FASM) controller with PID sliding mode (PIDSM) surface is designed, which can simultaneously achieve the objective of both individual vehicle stability and string stability under zero initial spacing error. Finally, in order to verify the effectiveness and superiority of the proposed method, experiments were carried out on four Ackermann cars.
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