Model based tracking control using Jerky behavior in platoon of vehicles

In this work, a reconstruction of the sensor-based tracking control in a platoon of autonomous vehicles is developed. This control is reproduced with accuracy in the absence of data from the laser rangefinder. Only the velocity of each involved vehicle in the platoon is considered, as well as the inter-vehicle communication. This reconstruction occurs when the laser rangefinder is disturbed or failed. It helps maintaining a fault tolerant control when the measurement is unavailable. The control strategy is validated on a real-time simulator of vehicles dynamic, based on experimental measurements, acquired from autonomous vehicles.