Attack resilient control for vehicle platoon system with full states constraint under actuator faulty scenario

Abstract

This paper investigates the full states-constrained resilient control for vehicle platoon systems with false data injection(FDI) attack, and actuator fault. A cyber-physical notion-based vehicle platoon system is firstly constructed. To meet the constraints for states and the transformed errors generated by the prescribed performance control(PPC) scheme, a novel PPC controller is constructed with barrier Lyapunov function(BLF). For eliminating the impact caused by FDI attack, a threshold-based attack detection mechanism including a virtual system, an authentication signal, and an attack detection filter, is developed. The amplitude of the FDI attack is then estimated by a finite time adaptive attack estimation observer. To offset the influence induced by actuator fault, an adaptive threshold-based fault detection observer is designed which reduces the false alarm ratio affected by external disturbance. Additionally, the amplitude of the actuator fault is estimated by an auxiliary variable-based fault estimation observer. By injecting the estimation of the FDI attack and actuator fault into the reference signal and controller, the resilient control is achieved. Finally, simulation results are given to exemplify the effectiveness of the control strategy.