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The lanes merging control is discussed in this paper for the vehicle platoon while the distance as well as bearing angle constraints among the adjacent vehicles are considered. Differing from the existing strategies, some practical concerns are discussed and dealt with in the controller design. First, to lower the dependence on an accurate system model, an ultra‐local model‐based system description is given. Moreover, an adaptive sliding mode disturbance observer is hence constructed so as to offset the lumped disturbance in the newly transformed system. Second, we divide the multi‐lane fusion target into two parts, namely the distance keeping and bearing angle tracking. Specifically, the distance keeping rules are ensured by utilizing the interval expression‐based prescribed performance control and the newly designed time‐varying integral barrier Lyapunov function. As for the bearing angle tracking, the constraints on the bearing angle and the vehicle's angular velocity are guaranteed by the integral barrier Lyapunov function. In addition to these, the event‐triggered control scheme is also considered during the distance keeping and bearing angle tracking so as to reduce the communication burden. Finally, simulation results are provided to show the effectiveness of the given control strategy. [ABSTRACT FROM AUTHOR]

• In the controller design, all the states of each vehicle are with constraints so as to fit the demands in real application. The proposed BLF-PPC control framework is a novel one in that the singularity problem in traditional PPC methods is solved by using an interval notion-based error transformation approach. To offset the disturbance, an interval observer-based identical reconstruction method is provided and the control input is decoupled from the reconstruction process. • During the attack diagnosis, the proposed virtual system functions as the ideal system which is immune from the FDI attack. Based on this, a fixed threshold-based attack detection method is realized. In addition, the detection process is simplified and the estimation for the authentication signal is eliminated. As for the attack estimation module, the estimation process can be done within a finite time and the accurate bound for the FDI attack is not necessary. • Differing from the existing fixed-threshold fault detection methods, a more accurate detection result can be ensured in this paper by importing the time-varying detection threshold. As for the fault estimation observer, the given intermediate variable even bridges the system states and the fault together such that the fault estimation is accomplished by the pure mathematical calculations of the system state and the intermediate variable. • In this paper, not only the FDI attack but also the actuator fault is considered. Due to the differences in the characteristics and the working mechanism, the impacts caused by FDI attack and actuator fault are discussed separately. This leads to the development of the attack and fault diagnosis modules. In addition, the resilient controller, attack and fault diagnosis modules can be designed separately. This paper investigates the full states-constrained resilient control for vehicle platoon systems with false data injection(FDI) attack, and actuator fault. A cyber-physical notion-based vehicle platoon system is firstly constructed. To meet the constraints for states and the transformed errors generated by the prescribed performance control(PPC) scheme, a novel PPC controller is constructed with barrier Lyapunov function(BLF). For eliminating the impact caused by FDI attack, a threshold-based attack detection mechanism including a virtual system, an authentication signal, and an attack detection filter, is developed. The amplitude of the FDI attack is then estimated by a finite time adaptive attack estimation observer. To offset the influence induced by actuator fault, an adaptive threshold-based fault detection observer is designed which reduces the false alarm ratio affected by external disturbance. Additionally, the amplitude of the actuator fault is estimated by an auxiliary variable-based fault estimation observer. By injecting the estimation of the FDI attack and actuator fault into the reference signal and controller, the resilient control is achieved. Finally, simulation results are given to exemplify the effectiveness of the control strategy. [ABSTRACT FROM AUTHOR]