Switching control for coordinated maneuvering of vehicular platoon with sensor failures

Abstract

The problem of nonlinear platoon control with sensor failure is studied in this paper. First, a vehicular platoon model involving sensor failure and nonlinearity is established, in which the nonlinear platoon is divided to a linearized model in addition to a nonlinear term. Then, based on the nonlinear model, a switching controller design method is proposed by using a discrete Lyapunov function and then the sufficient state feedback control law is achieved. It is shown that the obtained control scheme can achieve asymptotical stable. Simulations are given to show the efficiency of the proposed methods.