Prescribed Tracking Performance based Fault-tolerant Control for Vehicle Platoons with Actuator Fault and Input Quantization

In this study, the active fault-tolerant control for vehicle platoons with actuator fault and input quantization is investigated under prescribed tracking performance. Firstly, considering the deviation between the actual input and the desired input due to the mismatched quantizer, a model transformation is carried out to decompose the quantized input into the control input and the bounded quantization error. Then, to guarantee the transient and steady state performance of vehicle platoons with a tolerable level of vehicle actuator fault and input quantization, a backstepping-based fault-tolerant control algorithm under prescribed tracking performance framework is developed, which is proved to be capable of achieving the bounded tracking errors with prescribed performance. The effectiveness of the proposed active fault-tolerant control algorithm is demonstrated via numerical simulations.