预设跟踪性能下车辆队列执行器故障主动容错控制

Actuator active fault-tolerant control for vehicle platoons under prescribed tracking performance

研究预设跟踪性能下的车辆队列执行器故障主动容错控制问题.考虑执行器部分失效和偏移故障情形,设计Luenberger观测器和自适应残差阈值以实现执行器故障检测.在此基础上,为了确保执行器故障下的车辆队列暂态和稳态性能,在预设跟踪性能框架下,设计基于反步法的主动容错控制算法,在满足预设性能的前提下,实现车辆队列跟踪误差有界,且车辆间距满足安全性和紧凑性约束.仿真结果验证了所提出主动容错控制算法的有效性.

The active fault-tolerant control for vehicle platoons with actuator fault under prescribed tracking performance is investigated.Considering the actuator partial loss of effectiveness and bias faults,a Luenberger observer and adaptive residual threshold are proposed for fault detection.Based on this,to guarantee the transient and steady state performance of vehicle platoons with actuator fault,a backstepping based fault-tolerant control algorithm under the prescribed tracking performance framework is developed,which is proved to be capable of achieving the bounded tracking errors with prescribed performance,meanwhile the safety,compactness inter-vehicle distance constraints are not violated.The effectiveness of the proposed active fault-tolerant control algorithm is demonstrated via simulation results.