Prescribed performance merging control of multi-lane vehicles subject to actuator faults

• Published in: International journal of systems science Vol. 56; no. 12; pp. 3072 - 3084
• Main Authors: Guo, Ge, Liu, Yan-Xi, Zhang, Chen-Liang
• Format: Journal Article
• Language: English
• Published: Taylor & Francis 10.09.2025
• Subjects: adaptive bound estimation; Multi-lane merging; multiple actuator faults; prescribed performance cooperative control
• ISSN: 0020-7721; 1464-5319
• DOI: 10.1080/00207721.2025.2468368

This paper investigates the merging control problem of vehicles standing on different lanes, where the control performance is required to not only tolerate the infinite-number multiple actuator faults, but also meet the given constraint/requirement. The performance constraint is solved by means of the barrier Lyapunov function transformation of merging errors, and the initial transformation limitation is thoroughly removed due to the use of tuning function. Then by employing a neural network to approximate the unknown vehicle dynamics, we derive both distance and angle merging controllers satisfying prescribed performance, and a set of bound estimation schemes is involved to deal with the effect of actuator faults. On the basis of Lyapunov stability analysis, it is proved that our controller is capable of guaranteeing the boundedness of all vehicles states. In the end, the simulation study is implemented to verify the effectiveness of the proposed scheme as well as the superiority over the existing ones.