Resilient cooperative platoon control for leader-following uncertain vehicular systems subject to cyber-physical attacks

Abstract

This paper develops a resilient cooperative platoon control protocol for vehicle following systems under unreliable switching communication networks with cyber composite attacks, which includes actuator and sensors attacks, as well as denial of service (DoS) attacks. In this framework, to achieve leader-following platoon task, a novel resilient distributed adaptive control algorithm is designed by exploiting relative neighborhood information. First, a switching resilient turning mechanism with controller parameter updating laws is introduced into platoon controller architecture, which can compensate sensor and actuator attacks. Second, a topology-dependent analysis shows that cooperative leader-following platoon objective is achieved under some sufficient conditions, then the robust stability of the closed-loop coordination tracking error system is built. Finally, the simulation studies on a platoon of autonomous vehicles are provided to testify the design.