Resilient Platoon Control of Vehicular Cyber Physical Systems Under DoS Attacks and Multiple Disturbances

Abstract

This paper investigates the platoon control problem for vehicular cyber physical systems (VCPSs) under Denial-of-Service (DoS) attacks and multiple disturbances. DoS attacks often make data packets congested or even lost by jamming communication channels, which will lead to performance degradation of the VCPSs or even vehicle collisions. To counter DoS attacks, a recovery mechanism is introduced to confine the time duration rate and occurring frequency of the adverse effects of the DoS attacks on VCPSs. In the meanwhile, a resilient platoon control protocol is proposed to achieve internal stability of the VCPSs under DoS attacks. The propagation of disturbances among VCPSs is characterized by an <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> performance index, whose upper bound is ensured by solving conditions related to matrix inequalities. Moreover, a controller design algorithm is proposed to minimize the disturbance propagation bound in the context of DoS attacks. Numerical examples show the effectiveness of the obtained theoretical results.