This paper investigates the merging and splitting maneuvers of multiple heterogeneous platoons in the presence of actuator saturation and faults. At first, the vehicles of interest are divided into separate platoons, where vehicles within each platoon synchronize within themselves. However, vehicles belonging to different platoons follow distinct target trajectories. Subsequently, a decentralized adaptive fixed-time control law is formulated to estimate the unknown faults and to compensate the impact of actuator saturation. In the proposed network, the communication exchange among vehicles of different platoons uses matrices that encode the orientation of the new platoon with respect to the other one. This makes it suitable for achieving consensus when tackling a large variety of vehicle formations. The control law guarantees that multi-leader platooning achieves fixed-time convergence even in the presence of actuator saturation, faults and external disturbances. The effectiveness of this proposed approach is demonstrated through numerical simulations.

本文研究了在执行器饱和和故障存在的情况下多个异构排的合并和分裂机动。首先，感兴趣的车辆被分成单独的排，每个排内的车辆在自身内部同步。然而，属于不同排的车辆遵循不同的目标轨迹。随后，制定了分散自适应固定时间控制律来估计未知故障并补偿执行器饱和的影响。在所提出的网络中，不同排的车辆之间的通信交换使用矩阵来编码新排相对于另一排的方向。这使得它适合在处理多种车辆编队时达成共识。该控制律保证即使在执行器饱和、故障和外部干扰存在的情况下，多领导队列也能实现固定时间收敛。通过数值模拟证明了该方法的有效性。