Fault-Tolerant Robust Output-Feedback Control of a Vehicle Platoon Considering Measurement Noise and Road Disturbances

Abstract

As electric vehicle (EV) technology advances, platooning has emerged as a promising strategy to enhance energy efficiency and traffic flow. However, the effective deployment of EV platoons is challenged by the heterogeneous nature of vehicles, measurement noise in sensing systems, and the possibility of faults in the actuation. This study proposes a fault-tolerant control framework for heterogeneous EV platoons, ensuring robustness against measurement noise. The framework integrates fault estimation mechanisms with robust control strategies to mitigate the impact of faults and disturbances, thereby enhancing the reliability and safety of platoon operations. We demonstrate the effectiveness of the proposed approach in maintaining platoon cohesion and stability under diverse operating conditions, including scenarios with varying levels of measurement noise and fault occurrences through extensive simulations and experiments. The findings highlight the capability of our fault-tolerant control framework to promote the extensive implementation of EV platooning technology, thereby enhancing energy efficiency and traffic management in future transportation systems.