Robust Adaptive Backstepping Control of Automated Vehicle Convoys in the Presence of Combined Actuator Fault, Parameter Uncertainties, and External Disturbance by Considering Speed Constraints

Document Type : Dynamics, Vibrations, and Control

Author

Assistant Professor, Department of Mechanical Engineering, Faculty of Engineering, Ayatollah Boroujerdi University, Boroujerd, Iran

Abstract

This paper deals with the robust-adaptive backstepping control of heterogeneous self-driving vehicle groups in the presence of actuator fault, model uncertainty, and external disturbance concerning group speed constraints. The actuator fault is a combination of descending control law and the actuator disturbance. A third-order dynamical model is utilized to describe the longitudinal motion of each vehicle in which the engine time constant is unknown and the external disturbance is considered. The communication structure is assumed to be bi-directional leader-following. The control design is performed in three levels: speed level, acceleration level, and the final level. At the first level, the error is defined as the difference between the actual position and the desired position of each following vehicle. After that, by employing the Lyapunov theorem, a virtual control law is introduced to make the tracking error bounded. In the second and third levels, the error respectively is defined as the difference between speed and acceleration and the virtual control law of the previous level. Finally, a Lyapunov function involving the state errors of all levels and the estimation errors of the third level is defined and an adaptive control is introduced such that the tracking error and the estimation errors will be bounded. Numerical results are provided to show the merits of this method.

Highlights

  • The stability of the vehicle is achieved under the robust adaptive controller in the presence of actuator fault, uncertain dynamics, and external disturbance.
  • The actuator fault is a combination of weakened control effort and actuator disturbance.
  • The backstepping approach is utilized to construct the Lyapunov function.

Keywords

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References

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Aerospace Mechanics
Volume 19, Issue 4 - Serial Number 74
December 2023
Pages 119-133

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History

  • Receive Date: 05 June 2023
  • Revise Date: 30 July 2023
  • Accept Date: 19 September 2023
  • Publish Date: 22 December 2023

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