Adaptive Fault-tolerant Control of Platoons With Prescribed Tracking Performance

This article investigates a heterogeneous vehicular platoon control problem, in which prescribed tracking performance can be achieved, it is assumed that the vehicle subjects to asymmetric nonlinear actuator saturation, dead-zone nonlinearity and actuator faults. Based on improved exponential spacing policy, an adaptive fault-tolerant sliding-mode control scheme is proposed to guarantee individual vehicle stability, string stability and traffic flow stability. The hypothesis that the spacing errors at initial time are zero is removed by employing the novel exponential spacing policy. Furthermore, to attenuate the harmful effects of actuator faults, saturation and dead-zone nonlinearity, a compensation system based on radial basis neural network (RBFNN) is established. Finally, the effectiveness of the proposed control scheme is verified by simulation results.