Funnel-Based Predefined-Time Formation Control for Heterogeneous Vehicle Platoon With Asymptotic Tracking

Adaptive fuzzy predefined-time (PT) funnel formation control is investigated for uncertain third-order heterogeneous vehicle platoon systems (HVPSs) with collision avoidance, maintaining communication, asymptotic tracking, performance constraints (pre-specified transient behavior), actuator faults and external disturbance. Unlike the typical HVPSs results, the complete prior knowledge of the system parameters is not required. Firstly, to address the “explosion of complexity” challenge, an enhanced nonlinear PT filter is presented, which reduces the requirement of design parameter and improves the precision of linear filter. Then, an adaptive control strategy is proposed via backstepping technique and fuzzy approximation theory, which can realize the practical PT stability (PPTS) of HVPSs, and the asymptotic convergence of spacing errors is guaranteed by introducing smoothing function while meeting the constraint imposed by the performance funnel. Importantly, the complex Lyapunov function often associated with barrier Lyapunov function (BLF) technique can be avoided in this work. Finally, the validity of the theoretical results is verified by simulation of HVPSs under the predecessor-following communication topology.