Distributed Data-Driven Event-Triggered Fault-Tolerant Control for a Connected Heterogeneous Vehicle Platoon With Sensor Faults

This paper investigates a distributed data-driven event-triggered fault-tolerant control for a connected heterogeneous vehicle platoon with sensor faults under the vehicle-to-vehicle (V2V) communication network. First, a sensor fault diagnosis scheme based on the high-gain observer is designed to detect, estimate and compensate for the fault signal. Then, the measurement signals with sensor faults are recovered, and the reconstructed system can be modeled by the full-form dynamic linearization (FFDL) technique. To obtain reliable vehicle data communication with the efficient use of network resources, an event-triggered mechanism based on the formation error is established, and then a distributed data-driven controller can be designed to accomplish the platoon formation control task. Theoretical analysis demonstrates that the proposed distributed event-triggered fault-tolerant control method can realize the task of ensuring the safe formation control of the platoon system under some sensor faults. Finally, a simulation of a platoon with three faulty vehicles is made to verify the effectiveness and real-time performance of the proposed method.