基于执行器故障的非线性异构车辆领导跟随容错控制

Fault-Tolerant Control for NonlinearHeterogeneous Vehicles Leader-Follower Formation Based on Actuator Faults

摘要: 本文研究了基于执行器故障的异构车辆编队领导跟随容错控制问题。针对领头车辆速度恒定的场景，本文提出了一种新的分布式控制方案，从而保证异构车辆编队在一维恒定间距策略下的稳定性。首先，本文采用反馈线性化的方法，将非线性车辆动力学模型转换为线性的异构状态空间模型。而后，本文设计了一种分布式自适应容错控制协议，确保当车辆发生执行器故障时，相邻车辆之间仍保持等距，同时维护整个车队的期望纵向速度。该协议通过使用自适应理论对执行器进行故障估计，从而补偿执行器的有效性损失，保证车队控制系统的稳定性。此外，由于车队的设计拓扑结构是以领导者为根的生成树，领导者无需与每个跟随车辆直接通信，主要利用邻近车辆的状态信息，包括相对距离、速度和加速度。最后，仿真结果验证了本方案在车辆编队控制中的有效性。

Abstract: This paper investigates the fault-tolerant leader-following control problem of heterogeneous vehicle platoons based on actuator faults. In scenarios where the speed of the lead vehicle remains constant, a novel distributed control scheme is proposed to ensure the stability of heterogeneous vehicle platoons under a one-dimensional constant spacing strategy in this paper. Firstly, feedback linearization is employed to transform the nonlinear vehicle dynamics model into a linear heterogeneous state-space model. Subsequently, a distributed adaptive fault-tolerant control protocol is designed to ensure equidistance between adjacent vehicles and maintain the desired longitudinal velocity of the entire platoon even in the presence of actuator faults. This protocol utilizes adaptive fault estimation to compensate for the effectiveness loss of actuators, ensuring the stability of the platoon control system. Moreover, due to the platoon’s design topology as a leader-rooted spanning tree, the leader does not need to communicate directly with each follower vehicle. Instead, it primarily utilizes the state information of neighboring vehicles, including relative distance, velocity, and acceleration. Finally, simulation results validate the effectiveness of this approach in vehicle platoon control.