Adaptive Non-singular Fast Terminal Sliding Mode Control for Car-Like Vehicles with Faded Neighborhood Information and Actuator Faults

Abstract

This study addresses the problem of cooperative control design for a group of car-like vehicles encountering fading channels, actuator faults, and external disturbances. It is presumed that certain followers lack direct access to the states of the leader via a directed graph. This arises challenges in maintaining synchronization and coordination within the network. The proposed control strategy utilizes non-singular fast terminal sliding mode control to accelerate consensus tracking and enhance the convergence of the overall system. This controller is designed to mitigate the impact of actuator faults in the presence of fading channels in the communication network. The effects of such issues on team performance are rigorously analyzed. Based on the Lyapunov stability principle, it has been demonstrated that the controller is capable of providing satisfactory performance for the entire system despite these challenges. Moreover, vehicle synchronization can be effectively maintained. Numerical simulations are conducted to verify the theoretical findings.