Adaptive Fixed-Time Safety Concurrent Control of Vehicular Platoons with Time-Varying Actuator Faults under Distance Constraints

This paper investigates the fault-tolerant control problem for vehicular platoons with time-varying actuator fault directions and distance constraints. A bias constraint function is introduced to convert the asymmetric constraints into symmetric ones, based on which a unified barrier Lyapunov function (BLF) method is proposed to ensure distance constraints. Further, an adaptive fixed-time fault-tolerant controller in the context of a sliding mode control technique is proposed, wherein a new Nussbaum function is adopted to address the effects of unknown time-varying actuator fault directions. It is proved that both individual vehicle stability and string stability can all be guaranteed, and the effectiveness of the proposed algorithm is verified through numerical simulations.