Fault-Tolerant Platoon Control of Autonomous Vehicles Based on Event-Triggered Control Strategy

This paper is concerned with the issue of platoon fault-tolerant control of the system with time-varying actuator faults. By obtaining the relative state information of neighboring vehicles, two event-triggered fault-tolerant controllers are designed for the two cases of the leader vehicle speed. Th...

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Bibliographic Details
Published in:IEEE access 2020, Vol.8, p.25122-25134
Main Authors: Wang, Weiping, Han, Baijing, Guo, Yongzhen, Luo, Xiong, Yuan, Manman
Format: Article
Language:English
Subjects:
Actuators
Autonomous vehicles
Control systems
Event triggered control
event-triggered control strategy
Fault tolerance
Fault tolerant systems
platoon fault-tolerant control
Platooning
Safety
time-varying actuator failure
Traffic speed
Vehicle dynamics
Vehicles
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Summary:This paper is concerned with the issue of platoon fault-tolerant control of the system with time-varying actuator faults. By obtaining the relative state information of neighboring vehicles, two event-triggered fault-tolerant controllers are designed for the two cases of the leader vehicle speed. Then the vehicle platoon system is transformed into error system, and the event-triggered control strategy is designed, in an effort to further save resources. Moreover, by the related theory of Lyapunov, it is shown that the error system is bounded. Finally, two simulation examples are given to show the effectiveness of the proposed approach.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2020.2967830