Tang, Jiwei (Univiersity of Hong Kong), Xu, Jingzehua (Tsinghua University), Ji, Ruihang (National University of Singapore), Shu, Yiming (The University of Hong Kong), Xu, Jiahui (Univiersity of Hong Kong), Sun, Chen (Univiersity of Hong Kong)

Flexible Fault-Tolerant Prescribed Control for Connected Automated Vehicles

Scheduled for presentation during the Invited Session "S24c-Traffic Control and Connected Autonomous Vehicles: benefits for efficiency, safety and beyond" (TH-LA-T24), Thursday, November 20, 2025, 16:00−16:20, Coolangata 3

2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC), November 18-21, 2025, Gold Coast, Australia

This information is tentative and subject to change. Compiled on October 18, 2025

Abstract

Connected automated vehicles (CAVs) have significant potential to improve traffic efficiency and stability. While various longitudinal control policies have been developed for CAV platoons to achieve desired tracking performance, their limitations regarding fault-tolerance and robustness, particularly under actuator faults and input saturation, have not been fully addressed. This paper proposed a flexible fault-tolerant prescribed control (FFPC) for CAV platooning systems considering control input saturation, unobservable actuator faults, and disturbances. The controller design employs a composite tracking error and an error transformation function (ETF) to guarantee prescribed performance bounds while incorporating string stability considerations for the platoon. A key contribution is a proposed novel flexibility auxiliary system, that bridges the gap between input saturation signals and the performance boundaries so that the performance boundaries can be adaptively enlarged or recovered to avoid control singularity according to the situation of control input saturation. Comparative simulations against conventional prescribed performance control (PPC) demonstrate the feasibility and effectiveness of this proposed control strategy.