Preset-time Fault-tolerant and Resilient Control of Vehicular Platoon Based on Event-triggered and Nonlinear Disturbance Observer

This paper proposes a prescribed-time sliding-mode control (SMC) method based on adaptive event-triggered mechanism (ETM) and nonlinear disturbance observer (NDO) for vehicular platoon systems with model uncertainty, unknown external disturbances, and unknown fault direction under false data injection (FDI) attacks. By combining sliding-mode control with prescribed-time function methods, the proposed fault-tolerant and resilient control method effectively confines the tracking error to a predefined region within a specified time frame, while simultaneously guaranteeing collision avoidance and maintaining communication connectivity. Simulation results ultimately confirm the efficacy of the proposed control strategy,