Adaptive Fuzzy Tracking Control of Nonlinear Platoon with Time-Varying Actuator Delay

This paper studies how to achieve accurate tracking control of a third-order heterogeneous nonlinear vehicular platoon by an adaptive fuzzy method considering the time-varying actuator delay. Firstly, we set up a nonlinear longitudinal dynamic model of the platoon with time-varying actuator delay and unknown external disturbance. Furthermore, the unknown nonlinear function of the platoon system is approximated by adaptive fuzzy logic system, and an innovative filtered mechanism is introduced to make up for the actuator delay. Following that, in order to ensure the stability of the whole closed loop platoon system, an adaptive fuzzy controller is built. Finally, numerical simulations are used to demonstrate the efficiency of the suggested strategy.