String Stability for Heterogeneous Vehicular Platoon with Fault

The problem of string stability control for the heterogeneous vehicular platoon subject to actuator fault and external disturbances is investigated. Specifically, a quadratic spacing error policy is applied to improve string stability despite any vehicle in the platoon occurring actuator fault. Then, a super twisting-based robust string stability controller is developed to achieve the fault-tolerant ability of the whole vehicular platoon system and ensure the spacing error converges to zero quickly. Moreover, the asymptotic convergence and the string stability in the whole vehicular platoon are also proved, respectively. Finally, the proposed control strategy is carried out on the heterogeneous vehicular platoon with the actuator fault and external disturbances, and effectiveness and control performance can be verified.