Fuzzy Adaptive Cooperative Prescribed Time Control for Nonlinear Vehicular Platoon Systems

Abstract

This article focuses on the issue of the cooperative adaptive fuzzy prescribed-time platoon control for nonlinear second-order vehicular platoon systems, which contain the nonlinear dynamic. Fuzzy logic system is adopted to identify the unknown nonlinear dynamic in the platoon system. By the aid of the time-domain mapping technique, the prescribed-time control design for the controlled system will be converted to the asymptotic tracking control design of the corresponding controlled system. Combining adaptive backstepping control and vehicle-to-vehicle communication topology, a prescribed-time fuzzy adaptive cooperative asymptotic tracking control scheme is proposed, which demonstrates all signals of the platoon systems are bounded within a prescribed time, and the velocities of all following vehicles can asymptotically track the leader vehicle with desired safety spacing. Moreover, the formation tracking errors can asymptotically tend to origin within a prescribed time. Finally, the effectiveness and feasibility of the proposed platoon control approach and theory will be verified by simulations.