This article focuses on the problem of predetermined performance fault-tolerant control for vehicle platoon with measurement drifts and multiple input constraints. To overcome the difficulties of unmeasurable system states caused by measurement drifts and sensor failures, this article introduces auxiliary variables to build up new tracking errors. The dead zone and saturation constraints are transformed into linear functions and bounded perturbations, and the neural network approximation method is utilized to handle the system’s unknown terms online, which further reduces the computational complexity and design difficulty of the algorithm. By constructing a predetermined performance function, a novel adaptive fault-tolerant controller is designed such that all control errors enter a prespecified range within a preset time. Finally, the validity of the developed fault-tolerant control algorithm is verified by MATLAB simulation of a platoon consisting of five programmable vehicles.

中文翻译：

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针对测量漂移和多输入约束的车队预定性能容错控制


本文重点研究具有测量漂移和多输入约束的车辆队列的预定性能容错控制问题。为了克服由于测量漂移和传感器故障导致的系统状态不可测量的困难，本文引入了辅助变量来建立新的跟踪误差。将死区和饱和度约束转化为线性函数和有界扰动，利用神经网络逼近方法在线处理系统的未知项，进一步降低了算法的计算复杂度和设计难度。通过构造预定的性能函数，设计了一种新颖的自适应容错控制器，使得所有控制误差在预设时间内进入预定范围。最后，通过对由五辆可编程车辆组成的排进行 MATLAB 仿真，验证了所开发的容错控制算法的有效性。