Adaptive Fuzzy Fault-Tolerant Formation Control For Third-Order Heterogeneous Vehicle Platoon System With Intermittent Actuator Faults

This paper investigates the problem of prescriptive performance tolerant control of a heterogeneous vehicle platoon with intermittent actuator failures. A finite time prescribed performance function is then suggested, which makes use of the prescribed performance control (PPC) technique. This can prevent collisions and maintain connectivity between nearby ve-hicles while guaranteeing that the platoon system's tracking error converges to a predefined region within a prescribed amount of time. Then, in the context of a sliding mode control approach, an adaptive fault-tolerant platoon control scheme is proposed by incorporating a fuzzy logic system (FLS) to compensate for the effect of actuator faults. This system guarantees that all signals in the closed-loop system are actually finite time stable and demonstrates the ability to ensure both the individual vehicle stability and string stability. And finally, a four-vehicle platoon is numerical simulation was carried out to show the effectiveness of the proposed algorithm.