Nonlinear Disturbance Observer-Based Fault-Tolerant Sliding-Mode Control for 2-D Plane Vehicular Platoon With UTVFD and ANAS
针对二维平面车辆队列，提出一种基于非线性扰动观测器的容错滑模控制方法，解决执行器故障方向未知、非对称饱和及外部扰动问题，实现避撞、通信保持和多场景驾驶。
This article investigates a nonlinear disturbance observer (NDO)-based fault-tolerant sliding-mode control (SMC) for 2-D plane vehicular platoon systems subjected to actuator faults with unknown time-varying fault direction (UTVFD), asymmetric nonlinear actuator saturation (ANAS), nonlinear unmodeled dynamics, and unknown external disturbance. The Nussbaum-type function approach is adopted to solve the problem of actuator faults with UTVFD. The designed NDO not only can estimate the lumped disturbance accurately but also can reduce the control peaking and chattering phenomena caused by the Nussbaum-type function. Then, an adaptive saturation compensator is designed to compensate for the influence of actuator saturation on the system. In addition, by combining SMC technology with the prescribed tracking performance (PTP) approach, a distributed fault-tolerant control scheme is developed to not only ensure collision avoidance and communication connectivity but also realize a variety of driving scenarios, such as multilane vehicle merging and vehicular platoon lane changing. Finally, simulation results are presented to show the proposed scheme's effectiveness and advantages.