Fuzzy Adaptive Cooperative Prescribed Time Control for Nonlinear Vehicular Platoon Systems

This article focuses on the issue of the cooperative adaptive fuzzy prescribed-time platoon control for nonlinear second-order vehicular platoon systems, which contain the nonlinear dynamic. Fuzzy logic system (FLS) is adopted to identify the unknown nonlinear dynamic in the platoon system. By the aid of the time-domain mapping technique, the prescribed-time control design for the controlled system will be converted to the asymptotic tracking control design of the corresponding controlled system. Combining adaptive backstepping control and vehicle-to-vehicle (V2V) communication topology, a prescribed-time fuzzy adaptive cooperative asymptotic tracking control scheme is proposed, which demonstrates all signals of the platoon systems are bounded within a prescribed time, and the velocities of all following vehicles can asymptotically track the leader vehicle with desired safety spacing. Moreover, the formation tracking errors can asymptotically tend to origin within a prescribed time. Finally, the effectiveness and feasibility of the proposed platoon control approach and theory will be verified by simulations.