Sensor and actuator deception attacks often manipulate states and control commands, which lead to system performance deterioration or even instability. This article focuses on the platoon control problem for a group of connected and automated vehicles (CAVs) subject to both deception attacks and external disturbances. First, modeling both attacks and external disturbances as lumped disturbances, and a novel adaptive fixed-time disturbance observer (AFxTDO) without requiring prior knowledge of the disturbance boundary is further constructed to estimate the lumped disturbances within given time with zero estimation errors. Then, a new global fixed-time stability result with faster convergence rate is developed, together with the given AFxTDO, a variable exponent fixed-time sliding-mode control (VFxTSMC) scheme is established, such that the platoon tracking errors can converge to a predetermined region within the given time while avoiding the singularity phenomenon, improving the convergence speed and reducing the number of controller parameters. Meanwhile, individual vehicle stability and string stability also can be guaranteed within fixed-time by the suggested control scheme. Finally, the simulation results reveal the effectiveness and superiority of the proposed algorithm.

This paper studies a prescribed performance platoon control of connected vehicles with multiple performance threshold. A continuous gain function is introduced, combining with finite-time performance function, a novel prescribed performance control (PPC) scheme is developed, which makes the tracking error tend to the prescribed region with different threshold within the user-defined time. Then, a new finite-time reaching law is proposed, based on which, an improved finite-time sliding mode platoon control algorithm is proposed. The suggested control strategy not only ensures the two stability indexes of the platoon system, i.e., finite-time individual vehicle stability and finite-time string stability, but also realizes the asymptotic convergence of the spacing tracking error. Eventually, numerical simulations are carried out, based on which, the feasibility of the proposed scheme are validated.

Sensor and actuator attacks can alter the truth values of vehicle states and control input through false data injection, leading to performance degradation. In this paper, secure control of vehicular platoon control systems (VPCS) subject to joint sensor-actuator attacks, and the unknown disturbances is investigated. First, a novel adaptive sensor fusion algorithm is designed to estimate the actual position with smaller fusion errors. Subsequently, a predefined-time extended state observer (PTESO) is further constructed based on the estimated position to recover the continuous-time states (i.e., velocity and acceleration) and disturbances accurately within a user-defined settling time. Then, a variable exponent predefined-time sliding mode controller (VPTSMC) with few design parameters is developed to guarantee the predefined-time stability of the platoon system, namely string stability and individual vehicle stability. Meanwhile, the singularity phenomenon is also avoided. Finally, a serious of simulations are carried out to show the effectiveness of the suggested control scheme.

The fixed-time control is investigated for an uncertain two-dimensional (2-D) planar vehicular platoon system with global prescribed performance. First, a novel fixed-time prescribed performance control (FxTPPC) method is designed to guarantee the tracking errors converge to the prescribed region with small overshoot inside a predefined time. Moreover, the restriction of PPC method that relies on the initial condition of tracking errors is also released, which means global PPC can be achieved. Then, a new control scheme, by virtue of the composite fixed-time sliding mode surface, is constructed for the third-order 2-D plane platooning system, such that the tracking errors, including distance errors and heading errors, approach to a predetermined region in a given time, while avoiding the singularity problem and improving the convergence rate of the system. In addition, fixed-time string stability and reachability of fixed-time prescribed performance are also achieved. Finally, by constructing numerical simulations and experiment studies, the validity of the proposed scheme is demonstrated in the end.

This paper investigates fixed-time prescribed performance control issue of vehicular platoon subject to input nonlinearities induced by actuator dead-zone and saturation. Due to the occurrence of input nonlinearities, the spacing error increases, which may exceed the desired performance requirement. To deal with the dilemma, by merging an auxiliary variable, an improved prescribed performance control scheme is developed with a remarkable advantage that the performance boundary can be self-adjusted when actuator nonlinearities occur, while guaranteeing the tracking error tend to the predefined region in a fixed time. Then, with the help of an error transformation, an adaptive fixed-time sliding mode control approach is proposed, in which a new compensator with faster convergence is designed to eliminate the influence of actuator nonlinearities in a better way. The rigorous analysis shows that the given scheme is capable of guaranteeing fixed-time compounded individual vehicle stability, fixed-time string stability and reachability of fixed-time prescribed performance. Lastly, numerical simulations and experiments are carried out to verify the feasibility of the proposed platoon control protocol.

In this paper, based on Bidirectional (BD) topology, the problem of fuzzy finite-time asymptotic tracking control for the vehicular platoon control system (VPCS) with nonsmooth input nonlinearities induced by dead-zone and saturation is investigated. Based on mean-value scheme and approximation theorem, a novel equivalent transformation strategy independent of the precise model of the actuator is first presented, with which both dead-zone and saturation can be modeled as a smooth system with bounded errors. Then, to carry out the platoon objective within given time, a novel finite-time sliding mode control scheme is further developed, wherein the unknown nonlinear dynamics is approximated by a fuzzy logic system (FLS), and both compound individual vehicle stability and string stability are assured. In particular, asymptotic convergence with zero spacing error is also hold under the given control scheme. Numerical simulations are conducted in the last, based on which, the validity of the given scheme is demonstrated.