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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]

This study proposes an integrated fault estimation (FE) and fault‐tolerant control design for a rigid spacecraft attitude system with inertia uncertainties, external disturbances, input saturation, and different type multiple actuator faults. A barrier function is first introduced to eliminate the effects of inertia uncertainties and disturbances in the design of the sliding mode FE observer. By using the non‐singular fast terminal sliding mode control technology, a finite‐time fault‐tolerant attitude stabilisation controller and a finite‐time fault‐tolerant attitude tracking controller are designed to guarantee that the closed‐loop attitude system has a good fault‐tolerant performance under actuator faults. Furthermore, when considering actuator saturation, an auxiliary system is utilised to compensate for the saturation. The stability of the closed‐loop system is analysed by Lyapunov theory. Finally, the effectiveness of the proposed control approach is demonstrated via simulation results. [ABSTRACT FROM AUTHOR]