Predefined-Time Fuzzy Adaptive Fault-Tolerant Control for 2-D Heterogeneous Port Unmanned Container Transporter Platoon with Infinite Actuator Faults

This article delves into the problem of predefined-time adaptive fuzzy fault-tolerant control (FTC) for heterogeneous port unmanned container transporter (HPUCT) platoons with an infinite array of actuator faults. The study involved a vehicle model on a two-dimensional (2-D) plane, which takes into account velocity direction deviation. To approximate the complex nonlinear dynamics of the selected vehicle model, fuzzy logic systems (FLSs) are harnessed. By using online estimation technique, an infinite number of actuator failures are handled by estimating the fault parameter bounds. Moreover, a predecessor following (PF) communication topology facilitates inter-vehicle information exchange. Subsequently, a novel predefined-time adaptive fuzzy fault-tolerant controller is designed subject to nonsingular terminal sliding mode control (SMC) technique and predefined-time stability theory, which ensures that the entire HPUCT platoon attains multi-lane fusion and vehicle stabilities within a predefined time. Finally, numerical comparative simulations underscore the viability of the proposed predefined-time FTC algorithm.