A platooning controller robust to vehicular faults

This paper presents a platooning controller for a four-wheel-driving four-wheel-steering vehicle to follow another. The controller is based on the full-state tracking theory and utilizes a vehicular model that makes it able to continue to operate when faults are detected at its steering systems or driving motors which are disabled accordingly. The unified controller is also able to track and follow the target either moving forward in front or moving backward in the back of the vehicle making the real-time implementation of different tracking modes simple. Tracking stability is secured by the proper selection of design parameters. Simulations show the proposed control scheme works properly even in the presence of faults at several different parts.