Distributed Resilient Platoon Control of Vehicular Cyber Physical Systems Subject to DoS Attacks

Abstract

This paper investigates the platoon control problem for vehicular cyber physical systems (VCPSs) subject to Denial-of-Service (DoS) attacks which often cause significant transmitted data packet delay or dropout by jamming the communication channels among vehicles. As a result, the VCPSs may contain isolated vehicles which cannot receive information from others. This in truth can lead to performance degradation, or even collisions of vehicles. To mitigate such adverse effects of DoS attacks on VCPSs, this paper proposes a distributed control protocol for each vehicle to track the leading vehicle. In order to guarantee asymptotic tracking performances under both DoS attacks and the existing recovery mechanism, this paper characterizes the upper bounds of the time duration rate and the frequency of the communication network being in the state of containing no spanning tree, respectively, by using a state transformation method and multiple Lyapunov functions. The controller gains are also jointly designed in association with the parameters of the upper bounds. Numerical results show the effectiveness of the derived theoretical results.