Privacy-Preserving Cruise Control for Heterogeneous Platoon Vehicle System Under Actuator Faults and Uncertainties

The paper investigates the privacy-preserving cruise control problem for the heterogeneous platoon vehicle system under actuator faults and system uncertainties. The cooperative proportional-integral observer with privacy-preserving transmission scheme is constructed in the virtual layer to follow the virtual leader vehicle exponentially, while avoiding exposing the system dynamic against internal and external eavesdroppers. In the real layer, the distributed adaptive fault-tolerant controller is proposed based on the extended observer for the heterogeneous faulty system. It is demonstrated that the heterogeneous vehicle system achieves tracking to the virtual layer without propagating faults and uncertainties. Simulation examples validate the effectiveness of the suggested control scheme.