Adaptive fault-tolerant control of vehicle platoon systems with dual-prescribed precision
YUAN Xiao-hui
LI Zan
AN Tian-jiao
DONG Bo
Abstract：In the field of intelligent transportation,the cooperative tracking control of vehicle platoon systems is an effective means to improve traffic inefficiency,and achieving accurate and fast tracking of vehicle platoon systems is of paramount importance.Therefore,a distributed prescribed-time observer is proposed for cooperative tracking control of vehicle platoon systems.The observer is designed to enable the follower vehicles to successfully follow the state of the leader vehicle at the prescribed time,where the leader vehicle's input is unavailable for some of the follower vehicles.In order to guarantee tracking performance,it is necessary to establish a prescribed performance function.However,stopping and restarting the vehicle platoon systems midway,or changing the dynamics of the leader vehicle,will result in a reselection of the performance function,thus requiring a redesign of the control scheme.In order to eliminate this limitation,a performance function independent of initial conditions is designed in this paper.Based on observed results,a tracking control protocol with prescribed performance is developed to achieve accurate and rapid tracking of the system while ensuring transient and steady state performance.Additionally,to enhance the safety of vehicle platoon systems,an adaptive compensation control scheme is proposed to address actuator faults.The proposed control scheme guarantees that all vehicles maintain a safe distance while the system reaches stability.Finally,the effectiveness of the proposed algorithm is verified by simulation results.
Keywords：adaptive controldistributed controlvehicle platoon systemsprescribed-time observerprescribed perfor-mancefault-tolerant control
Publication Date：2026-02-28
Online Publishing Date：2026-04-08(First online date of this platform, not the publication date of the document)
Pages：9( 316-324 )