Robust distributed model predictive control of connected vehicle platoon against DoS attacks

Abstract

This paper investigates the robust distributed model predictive control (DMPC) of connected vehicle platoon (CVP) systems subject to denial-of-service (DoS) attacks. The main objective is to design a DMPC algorithm that enables the CVP system to achieve exponential tracking performance. First, a switched system model is proposed for the networked CVP system in the presence of DoS attacks. Then the sufficient conditions for the exponential stability of tracking the performance of the CVP control system under DoS attacks are obtained by constructing a specific Lyapunov function and using the topological matrix decoupling technique. In our paper, the DoS attack phenomenon is handled by introducing the frequency and duration parameters, and a quantitative relationship between the exponential decay rate of the CVP system and the DoS attacks parameters is established based on the conditions proposed in the system design, and the critical value of the DoS attack duration ratio is also derived. Finally, the effectiveness of the proposed algorithm is verified through a simulation of a CVP system consisting of one leading vehicle and three following vehicles.