Resilient Event-Triggered Control for Vehicular Networked Systems Under Markovian Jump DoS Jamming Attacks

Abstract

Vehicle platooning systems (VPSs) can significantly not only increase traffic capacity but also benefit vehicle safety by exchanging vehicle information over vehicular networks. Vehicular networked systems (VNSs), however, are often subject to the denial of service (DoS) jamming attacks and interference, which inevitably compromises the vehicle safety. This paper focuses on resilient event-triggered control (ETC) for VNSs under DoS jamming attacks. Firstly, VNSs under DoS jamming attacks are modeled as Markovian jump systems. Secondly, a novel dynamic ETC for each vehicle is proposed to reduce interference by reducing triggered times. By using Lyapunov stability theory, then, sufficient conditions of stochastic $\mathscr{L}_{2}$ string stability are provided considering time-varying partly known transition probabilities matrix for DoS jamming attacks, meanwhile, the resilient controller design method is given to guarantee the stability and a scheduling algorithm is proposed to adaptively adjust controller during the moving of vehicle platoon, which can match the vulnerable network environment. Finally, a numerical example is used to verify the effectiveness and advantages of the proposed methods.