Adaptive Fuzzy Control for Heterogeneous Vehicular Platoon Systems With Collision Avoidance and Connectivity Preservation

This article investigates the problem of fuzzy adaptive asymptotic tracking control for a third-order heterogeneous vehicular platoon system with input saturation. The unknown nonlinear functions are approximated using fuzzy logic systems. To address the issue of input saturation, a control scheme with an auxiliary design system is proposed. A spacing error is created to reduce the intervehicle spacing. The proposed adaptive asymptotic tracking control design scheme employs the barrier Lyapunov functions to impose distance restrictions, ensuring collision avoidance, and maintaining communication connections. The scheme guarantees asymptotic convergence with zero spacing error and proves the individual and string stability of the entire heterogeneous vehicular platoon. Simulations are conducted to demonstrate the effectiveness of the proposed results.