Abstract
This paper investigates the consensus problems of the third-order discrete-time Connected Vehicle Systems (CVSs) under cyber-attacks. First, the necessary and sufficient conditions for consensus of third-order discrete-time CVSs are derived in the absence of attacks by using algebraic graph and matrix theory. Then the interaction network framework between the original CVSs in the vehicle platoon layer and a virtual system in the hidden layer is established to resist cyber-attacks. Since sufficiently large attacks can be excluded from CVSs through a threshold defense mechanism, such potential attacks considered are bounded and generated by any linear or non-linear finite L2-gain exogenous dynamics system. It is proved that the stability of CVSs can be ensured and the state errors converge to a bounded range whether the attacks exist only in the vehicle platoon layer or in the overall systems (including the vehicle platoon layer and the hidden layer) by using the Lyapunov stability method. Finally, a simulation example containing several scenarios demonstrates the effectiveness and superiority of the proposed methods.
Highlights
Organizing self-driving vehicles as a platoon has attracted widespread attention in recent years due to its advantages in reducing fuel consumption, improving traffic safety and increasing road efficiency [1]–[4]
MAIN RESULTS The Connected Vehicle Systems (CVSs) should remain stable in the ideal situation without cyber-attacks, including normal design and interaction design, which is the basis for stable driving of the vehicle platoon
In the following analysis, we first derive the stability conditions for CVSs in the absence of an attack, and we investigate the robustness of the systems under cyber-attacks
Summary
Organizing self-driving vehicles as a platoon has attracted widespread attention in recent years due to its advantages in reducing fuel consumption, improving traffic safety and increasing road efficiency [1]–[4]. In addition to modeling a certain type of cyber-attacks and proposing corresponding resilient control strategies, timely system fault detection is necessary to ensure the stability and security of CPS [38], [39]. There have been many strategies and approaches to resist cyber-attacks and ensure the stability and security of CPS, but existing results have limitations on the order of systems (the first-order or high-order), attack implementation types (DoS attacks, replay attacks, or deception attacks), or network topology (undirected graph or directed graph). Ii) In addition to giving the necessary and sufficient conditions for CVSs reaching consensus asymptotically in the absence of an attack, the interaction network design method for CVSs maintaining stability whether the attacks exist only in the vehicle platoon layer or in the overall interaction systems is further developed. The notation σ (A) ⊂ B(0, 1) describes that all the eigenvalues of the matrix A lie within the unit open circle
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