Distributed Antittack Fault-Tolerant Tracking Control for Vehicle Platoon Systems Under Cyber-Physical Threats

Abstract

Vehicle platoon systems are considered as automatous vehicles in a platoon-based driving pattern in which a following vehicle follows the preceding vehicle and maintains the desired vehicle spacing. This study investigates the leader-following tracking issue of vehicle platoon systems under cyber-physical threats with the distributed anti-attack fault-tolerant tracking control strategy. Vehicle platoon systems, complicated actuator faults in physical layer, and connectivity-mixed attacks in cyber layer are modeled, respectively. Decentralized fault-estimation unknown input observer and distributed anti-attack fault-tolerant tracking control designs are developed in an integrated control framework to guarantee the robust and resilient tracking property of estimation errors and platoon tracking errors as well as the reliable inter-vehicle spacing by virtue of attack activation rate and attack frequency metrics. Simulations validate the proposed distributed anti-attack fault-tolerant tracking control algorithm in pernicious cyber-physical threatened scenarios.