Distributed Finite-Time Safety Consensus Control of Vehicle Platoon With Senor and Actuator Failures

Due to the numerical subsystems and functionalities among the platoon, failures easily occur and lead vehicle safety and stability to deteriorate. With the surge of platoon connectivity, the abnormal states arising in faulty vehicles will have an impact on adjacent healthy vehicles, potentially resulting in severe traffic accidents. To address the aforementioned problems and improve the functional safety of platoons, a systemic anti-fault safety consensus strategy is proposed in this article to deal with sensor faults, LOE actuator faults, and bias actuator faults simultaneously. To tackle the necessary defects, this safety consensus technique can be split into fault detection tasks and fault-tolerant control tasks. Initially, a distributed finite-time observer is employed to detect sensor faults through the index between the reconstructed states and received states. In the presence of actuator faults, a novel adaptive finite-time fault parameter estimation law collaboration with a feasible differential observer is developed to assess the precise fault extent. In addition, to improve the estimation performance of the adaptive fault parameter estimation law, an integral discounted cost function is constructed in this paper to obtain the optimal learning gain. Via theoretical analysis, the solution for the minimal value of the cost function and the finite-time convergence property are demonstrated in this paper. Furthermore, by utilizing this novel adaptive optimal finite-time estimation law, a novel distributed adaptive finite-time fault-tolerant controller is constructed to compensate for failures in platoon. Finally, the effectiveness and feasibility of our safety consensus strategy are verified by real-time simulations through the dSPACE platform.