Fault-Tolerant Platoon Control of Autonomous Vehicles Based on Event-Triggered Control Strategy

Abstract

This paper is concerned with the issue of platoon fault-tolerant control of the system with time-varying actuator faults. By obtaining the relative state information of neighboring vehicles, two event-triggered fault-tolerant controllers are designed for the two cases of the leader vehicle speed. Then the vehicle platoon system is transformed into error system, and the event-triggered control strategy is designed, in an effort to further save resources. Moreover, by the related theory of Lyapunov, it is shown that the error system is bounded. Finally, two simulation examples are given to show the effectiveness of the proposed approach.