Distributed neuroadaptive fault-tolerant sliding-mode control for 2-D plane vehicular platoon systems with spacing constraints and unknown direction faults

In this paper, neuroadaptive fault-tolerant control of nonlinear vehicular platoon systems subject to unknown direction actuator faults, unmodeled dynamics, and external disturbances is investigated. A vehicle model considering the influence of velocity direction deflection angle on vehicle position is proposed on a two-dimensional (2-D) plane to realize multi-lane vehicle fusion. Then, in order to avoid collisions and maintain communication connection, the method of asymmetric barrier Lyapunov function (BLF) is adopted to eliminate the unfavorable assumption on spacing constraints in using symmetric BLF in the existing result. Nussbaum function is adopted to attenuate the negative effects caused by unknown direction actuator faults. Furthermore, by combining sliding-mode control (SMC) techniques with radial basis function neural network (RBFNN), a novel neuroadaptive fault-tolerant control scheme with minimal learning parameters is designed to not only guarantee the finite-time stability of the whole vehicular platoon but also tolerate the unknown direction actuator faults. Finally, simulation results show the effectiveness and advantages of the proposed scheme.