Formation Control with Prescribed Performance for Fully Actuated Vehicles Under Input Saturation

This paper investigates the adaptive control problem for vehicle platoon systems with input saturation. Under the framework of the high-order fully actuated system approach, a prescribed performance control strategy based on the backstepping technique is proposed. First, the designed performance function features an adjustable convergence rate and time-varying convergence bounds, which can better adapt to practical requirements in road environments. Second, the input saturation problem is addressed by utilizing a Nussbaum-type function. Theoretically, all signals in the closed-loop system are proven to be semi-globally uniformly ultimately bounded. Finally, simulation results are provided to verify the effectiveness of the proposed method.