Secure Event-Triggered Vehicle Platooning Control with Proportional Integral Observers under Denial of Service Attacks

This paper addresses the problem of secure event-triggered platooning control for multiple automated vehicles where the vehicle-to-vehicle communication network suffers from limited resource constraint and denial-of-service (DoS) attacks. A novel distributed proportional-integral observer (PIO) with a forgetting integral term is first proposed for each platoon vehicle to estimate its full state. In light of the PIOs, a distributed dynamic event-triggered platoon controller is then constructed under a bandwidth-sensitive dynamic event-triggered mechanism (DETM). Furthermore, a switching system model is presented to overcome the challenge of complex time series coming from DETM and DoS attacks. A sufficient co-design condition is derived to receive the desired controller gain. Finally, an illustrative example is provided to validate the derived main results.