Distributed Adaptive Asymptotic Tracking of 2-D Vehicular Platoon Systems With Actuator Faults and Spacing Constraints

Dear Editor, This letter investigates the adaptive asymptotic tracking sliding-mode control for nonlinear 2-D vehicular platoon systems subject to actuator faults. Firstly, by using the Nussbaum function, the disadvantageous factors brought by the unknown direction actuator faults can be attenuated. Then, a new neural network (NN) asymptotic tracking control method is presented based on the sliding-mode control and bounded estimation approach. By constructing a barrier Lyapunov function, it can be guaranteed that all signals of the corresponding closed-loop systems are bounded, and constraints are not violated. Finally, a numerical simulation is given to verify the obtained results.