Adaptive fault-tolerant platooning control for nonlinear homogeneous multiple autonomous vehicles under unreliable communication networks

This article presents a fault-tolerant platooning control algorithm for a class of nonlinear homogeneous multi-vehicle systems under unreliable network communication environment. The considered types of actuator failures in individual vehicle are loss-in-effectiveness, and bias faults. Suppose the communication network among vehicles is here described as a switching graph subject to intermittent communications. Unlike the existing results dealing with vehicle platoon under continuous communications, this article develops a hierarchical fault-tolerant platooning control approach, under which, the multiple vehicle coordination platooning objective is ensured even in the cases of discontinuous communication faults and actuator failures. First, each following vehicle can estimate the desire reference information via cooperative adaptive virtual estimator even in intermittent communications. Second, the local fault-tolerant controller with adaptive parameter update mechanism can guarantee the practical position and velocity of following vehicles asymptotically track the desire estimations. Finally, a simulation example of a team of autonomous vehicles is given to verify the effectiveness of the proposed method.