The invention discloses an
active fault-tolerant control method for an intelligent networked automobile
queue under communication time
delay, and relates to intelligent safety and automatic driving of automobiles. A vehicle-mounted sensor and a V2X
wireless communication
system are used for achieving information interaction between the vehicle and other vehicles, the inverse model compensation and
feedback linearization technology is adopted, a vehicle
queue closed-
loop control model with sensor faults and
actuator faults is established, and the
active fault-tolerant control method of the distributed observer is designed under the influence of communication time
delay. Based on a dynamic proportional integral observer, sensor faults and
actuator faults are estimated, communication time
delay is considered in a controller part, the faults are compensated, the stability of a
queue system is achieved, and the expected vehicle-to-vehicle distance and the expected running speed of each vehicle in the queue are ensured. A distributed controller is designed on the basis of fault
estimation value design and delayed output information of other vehicles, so that the influence caused by faults of sensors and actuators is restrained, and the aim of queue control is achieved.