Funnel-Based Predefined-Time Control for Heterogeneous Vehicles With General Narrow Tunnel Constraints

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Abstract
This paper investigates the predefined-time (PT) formation control for heterogeneous vehicle systems with general narrow tunnel constraints and non-affine actuator faults. Unlike conventional barrier Lyapunov function-based approaches that rely on specific constraint forms, a novel funnel-based control framework is developed to directly accommodate general curvilinear constraint boundaries. To address the explosion of complexity issue, an enhanced nonlinear filter is proposed, which reduces parameter dependence while improving filtering accuracy. By combining funnel control, coordinate transformations, and Butterworth low-pass filter, an adaptive broad fuzzy neural network control strategy is constructed to ensure PT stability of the closed-loop system. Besides, the proposed approach guarantees safe vehicle operation under narrow-tunnel constraints while keeping formation errors within prescribed performance funnels. Real-time experiments on a Speedgoat platform validate the effectiveness and feasibility of the proposed method.
Funding Information
  • National Natural Science Foundation of China (62503347)
  • National Natural Science Foundation of China (62303341)
  • National Natural Science Foundation of China (62573311)
  • National Natural Science Foundation of China (62533013)
  • Basic research program of Jiangsu (BK20250992)
  • Natural Science Foundation for colleges and universities of Jiangsu Province (25KJB120009)
  • 333 Project of Jiangsu Province

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