BLF-Based Neuroadaptive Fault-Tolerant Control for Nonlinear Vehicular Platoon With Time-Varying Fault Directions and Distance Restrictions

Guo, Xiang-Gui; Wei-dong, XU; Wang, Jianliang; Park, Ju H.; Yan, Huaicheng

doi:10.1109/tits.2021.3113928

Cited by 27 publications

(7 citation statements)

References 34 publications

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“…[25][26][27] Particularly, the incorrect information generated by faulty vehicular can be broadcasted over time-varying communication networks, which will propagate with the whole transportation systems very serious. In recent years, some effective method on fault-tolerant control (FTC) problem for vehicle cooperative platoon, are designed in References 6,[26][27][28][29][30][31] In References 26 and 27, the authors design two effective FTC approaches for vehicular platoons, which can guarantee individual vehicle stability, string stability and traffic flow stability. On the basis of neuroadaptive technique, the fault-tolerant control problem of nonlinear vehicular platoon with unmodeled dynamics, external disturbances, and time-varying actuator fault directions investigated in Reference 28.…”

Section: Introductionmentioning

confidence: 99%

“…Particularly, the incorrect information generated by faulty vehicular can be broadcasted over time‐varying communication networks, which will propagate with the whole transportation systems very serious. In recent years, some effective method on fault‐tolerant control (FTC) problem for vehicle cooperative platoon, are designed in References 6,26–31. In References 26 and 27, the authors design two effective FTC approaches for vehicular platoons, which can guarantee individual vehicle stability, string stability and traffic flow stability.…”

Section: Introductionmentioning

confidence: 99%

“…In References 26 and 27, the authors design two effective FTC approaches for vehicular platoons, which can guarantee individual vehicle stability, string stability and traffic flow stability. On the basis of neuroadaptive technique, the fault‐tolerant control problem of nonlinear vehicular platoon with unmodeled dynamics, external disturbances, and time‐varying actuator fault directions investigated in Reference 28. By means of the dynamic event‐triggered mechanism, a model‐free fault‐tolerant adaptive platooning control algorithm for vehicle platoon systems is presented in Reference 29.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive fault‐tolerant platooning control for nonlinear homogeneous multiple autonomous vehicles under unreliable communication networks

Wang,

Park,

Liu

et al. 2024

Intl J Robust & Nonlinear

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This article presents a fault‐tolerant platooning control algorithm for a class of nonlinear homogeneous multi‐vehicle systems under unreliable network communication environment. The considered types of actuator failures in individual vehicle are loss‐in‐effectiveness, and bias faults. Suppose the communication network among vehicles is here described as a switching graph subject to intermittent communications. Unlike the existing results dealing with vehicle platoon under continuous communications, this article develops a hierarchical fault‐tolerant platooning control approach, under which, the multiple vehicle coordination platooning objective is ensured even in the cases of discontinuous communication faults and actuator failures. First, each following vehicle can estimate the desire reference information via cooperative adaptive virtual estimator even in intermittent communications. Second, the local fault‐tolerant controller with adaptive parameter update mechanism can guarantee the practical position and velocity of following vehicles asymptotically track the desire estimations. Finally, a simulation example of a team of autonomous vehicles is given to verify the effectiveness of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Adaptive fault‐tolerant platooning control for nonlinear homogeneous multiple autonomous vehicles under unreliable communication networks

Wang,

Park,

Liu

et al. 2024

Intl J Robust & Nonlinear

Self Cite

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“…By importing the given performance function, the controller in [7] is able to prevent connectivity breaks and collisions. By integrating a terminal sliding mode surface and a barrier Lyapunov function, the distance keeping is ensured in [10] even under an actuator faulty scenario. In [11], the collision avoidance integrating with the effective communication range is considered when constructing a arctan-function-based prescribed performance controller.…”

Section: Introductionmentioning

confidence: 99%

Event-Triggered Multi-Lane Fusion Control for 2-D Vehicle Platoon Systems With Distance Constraints

Zhou

Zhu

et al. 2023

IEEE Trans. Intell. Veh.

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This paper investigates the event-triggered fixedtime multi-lane fusion control for vehicle platoon systems with distance keeping constraints where the vehicles are spread in multiple lanes. To realize the fusion of vehicles in different lanes, the vehicle platoon systems are firstly constructed with respect to a two-dimensional (2-D) plane. In case of the collision and loss of effective communication, the distance constraints for each vehicle are guaranteed by a barrier function-based control strategy. In contrast to the existing results regarding the command filter techniques, the proposed distance keeping controller can constrain the distance tracking error directly and the error generated by the command filter is coped with by adaptive fuzzy control technique. Moreover, to offset the impacts of the unknown system dynamics and the external disturbances, an unknown input reconstruction method with asymptotic convergence is developed by utilizing the interval observer technique. Finally, two relative threshold triggering mechanisms are utilized in the proposed fixed-time multi-lane fusion controller design so as to reduce the communication burden. The corresponding simulation results also verify the effectiveness of the proposed strategy.

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“…However, in practical applications, asymmetric constraints are more common. Aiming at the problem of distance restrictions between trains, a switching BLF‐based control is proposed in Reference 22, which realizes asymmetric distance restrictions by switching two different BLFs, and combines terminal sliding mode control to achieve stability. Although the above‐mentioned BLF‐based controllers can achieve good control effects, most of them are designed based on models.…”

Section: Introductionmentioning

confidence: 99%

Asymmetric time‐varying BLF‐based model‐free hybrid force/position control for SEA‐based 2‐DOF manipulator

Wei

Wang

Tian

2023

Adaptive Control & Signal

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Summary In this work, an asymmetric time‐varying barrier Lyapunov function‐based model‐free hybrid force/position controller (ABLF‐MFC) is proposed for the series elastic actuator‐based 2‐DOF manipulator. Inspired by large surface machining, many scenarios require hybrid force/position control, and the simple position control can no longer meet the above requirements. Therefore, ABLF‐MFC with a dual‐loop structure is established, which are force sub‐control loop and position sub‐control loop. Based on the idea of admittance control, the force sub‐control loop generates a reference trajectory according to the desired interaction force and trajectory. Then, for the position sub‐control loop, to simplify the controller design process, an ultra‐local model (ULM) is introduced, which can approximate the original system. Since the ULM has an unknown term, time‐delay estimation (TDE) is applied to estimate it, which can also reduce the dependence on accurate model parameters. The position sub‐control loop is designed by an asymmetric time‐varying barrier Lyapunov function, an integral‐type Lyapunov function and an adaptive compensation term, so the tracking error can be kept within the preset boundary while ensuring the convergence, and the TDE estimation error can be compensated. Rigorous mathematical proofs and simulation results verify the effectiveness of ABLF‐MFC.

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BLF-Based Neuroadaptive Fault-Tolerant Control for Nonlinear Vehicular Platoon With Time-Varying Fault Directions and Distance Restrictions

Cited by 27 publications

References 34 publications

Adaptive fault‐tolerant platooning control for nonlinear homogeneous multiple autonomous vehicles under unreliable communication networks

Adaptive fault‐tolerant platooning control for nonlinear homogeneous multiple autonomous vehicles under unreliable communication networks

Event-Triggered Multi-Lane Fusion Control for 2-D Vehicle Platoon Systems With Distance Constraints

Asymmetric time‐varying BLF‐based model‐free hybrid force/position control for SEA‐based 2‐DOF manipulator

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