Resilient Adaptive Finite-Time Fault-Tolerant Control for Heterogeneous Uncertain and Nonlinear Autonomous Connected Vehicles Platoons
This paper addresses the control problem of heterogeneous uncertain nonlinear autonomous vehicle platoons in the presence of adversarial threats arising in Vehicular Ad-hoc NETworks (VANET) during the information sharing process. As unpredictable faults and/or malicious attacks may affect the trustworthiness of the messages shared among vehicles, a suitable resilient control law, able to enhance the robustness of the platoon formation, is required for the prevention of dangerous events. With the aim of achieving a safe platoon control, the authors leverage Multi-Agent System (MAS) framework and they design a novel distributed backstepping finite-time control strategy, embedding adaptive mechanisms able to guarantee vehicles fleet resilience with respect to possible occurring faults. The proposed strategy falls into the passive fault-tolerant control framework and, hence, it does not require additional observers for fault detection and isolation, thus reducing the computational burden. Adaptive mechanisms are designed according to Lyapunov-based theory which, in combination with the Barbalat lemma, ensures the stability of the closed-loop vehicular network. More specifically, their approach allows guaranteeing the convergence towards zero of the spacing and speed errors, while ensuring that all adaptive signals are bounded in a finite-time interval. A detailed simulation analysis, including a comparison w.r.t. the technical literature, confirms the theoretical derivation, the effectiveness and the advantages of the proposed resilient control law in ensuring platoon formation for different driving scenarios despite the occurrence of unexpected faults.
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Availability:
- Find a library where document is available. Order URL: http://worldcat.org/issn/26877813
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Supplemental Notes:
- © 2023 The Authors.
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Authors:
- Caiazzo, Bianca
- Lui, Dario Giuseppe
- Petrillo, Alberto
- Santini, Stefania
- Publication Date: 2023
Language
- English
Media Info
- Media Type: Web
- Features: Figures; References; Tables;
- Pagination: pp 481-492
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Serial:
- IEEE Open Journal of Intelligent Transportation Systems
- Volume: 4
- Publisher: Institute of Electrical and Electronics Engineers (IEEE)
- ISSN: 2687-7813
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Publication flags:
Open Access (libre)
Subject/Index Terms
- TRT Terms: Automated vehicle control; Autonomous vehicles; Connected vehicles; Fault tolerant computing; Heterogeneity; Traffic platooning
- Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment;
Filing Info
- Accession Number: 01891332
- Record Type: Publication
- Files: TRIS
- Created Date: Aug 28 2023 9:19AM