The occurrence of actuator faults may lead to large compensating control signals, which can potentially result in actuator saturation and cause further performance degradation or even instability. Therefore, it is necessary to study actuator faults and saturation in vehicular platoon systems simultaneously. This chapter aims to address the fault‐tolerant control problem for heterogeneous vehicular platoons with actuator faults and saturation. By employing radial basis function neural networks and the PID‐type sliding‐mode control method, a platoon control scheme is derived based on the Lyapunov stability theory, which is capable of guaranteeing individual vehicle stability and string stability for the whole vehicular platoon. To tackle the problem of large transient engine and brake torques due to initial condition uncertainties, a new quadratic spacing policy is given which removes the assumption of zero initial spacing errors.
Adaptive Fault‐Tolerant Control with Actuator Saturation
Connected Vehicular Systems ; 123-142
25.10.2023
20 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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