Resilient Distributed Event-Triggered Control of Vehicle Platooning Under DoS Attacks

This paper deals with the resilient distributed control of a platoon of automated vehicles under DoS attacks. First, an event-triggered transmission mechanism resilient to energy-limited DoS attacks is proposed to save the possible bandwidth of vehicle-to-vehicle communication channels. A consensus-based distributed control strategy, which is implemented on each vehicle, is developed to account for the information interaction of leading and following vehicles under the proposed resilient event-triggered data transmission mechanism. Second, an attack-tolerant performance index with certain resilience level is put forward in such a way to achieve resilience evaluation of the vehicular platoon system. Third, sufficient conditions are derived for ensuring the consensus of the resulting vehicular platoon system while preserving the prescribed resilience performance requirement. Furthermore, a co-design criterion for determining the distributed platoon controller and triggering condition is presented. Finally, simulation under a predecessor-leader following topology is presented for validation of the obtained results.