Prescribed Performance Tracking Control for 2-D Plane Vehicle Platoons With Actuator Faults and Saturations

This article studies the multi-lane fusion tracking control problem for the two-dimensional third-order nonlinear vehicle platoons with actuator faults and saturations. A novel class of performance functions is designed to guarantee that the platoon tracking errors under asymmetric constraints satisfy the pre-given performance. To achieve the multi-lane fusion tracking control, new third-order prescribed performance sliding-mode surfaces are proposed for nonlinear vehicle platoons. Further, the saturation steering wheel input and the fault-tolerant throttle/brake input are designed by using the adaptive neural network sliding mode control technique, respectively. They can steer the platoon tracking errors approach the predefined region in the preset finite time while avoiding collisions and maintaining communications. Finally, the effectiveness of the proposed control scheme is verified by using two simulation examples with comparisons.