A resource-aware control approach to vehicle platoons under false data injection attacks

Dynamic event-triggering-based distributed model predictive control of heterogeneous connected vehicle platoon under DoS attacks

This paper is concerned with the distributed model predictive control (DMPC) for heterogeneous connected vehicle platoon (CVP) under denial-of-service (DoS) attacks. Firstly, a dynamic event-triggering mechanism (DETM) based on the information interaction between vehicles is proposed to reduce the communication and computational burdens. Due to the fact that the triggering moment for each vehicle cannot be synchronized and DoS attacks can break the communication between vehicles, a packet replenishment mechanism is designed to ensure the integrity and effectiveness of information interaction. Then, the effect of external disturbance is handled by adding robustness constraints to the DMPC algorithm. In addition, the recursive feasibility of the DMPC algorithm and input-to-state practical stability (ISPS) of the CVP control system are demonstrated. Finally, the effectiveness of the algorithm is verified by simulation and comparison results.

Resilient event-triggered observer-based control of non-linear systems under denial-of-service attacks with actuator saturation

This paper studies the control problem for a continuous-time networked system with non-linearity in the state equation as well as in the input, as saturation. The system is considered under denial-of-service (DoS), attacks which cause the blockage of input and/or output components in the overall closed-loop model. An event-triggering scheme that is resilient in nature, along with an observer-based control, has been considered under DoS attacks. The resultant scheme ensures efficient network resources and excludes Zeno behavior naturally due to the presence of a minimum positive interevent delay. Then, an event-based switched non-linear model is presented to address both the event-triggering scheme and the presence of DoS blocking attacks. A piece-wise Lyapunov-Krasovskii functional method on the described non-linear model, resulting in the switched system, is considered for achieving an exponentially stable response by driving the required feasibility conditions. In the presence of a non-linear system with saturation in the actuator, the presented design establishes quantitative relationships among the exponential decay rate, active/sleeping intervals of attacks, parameters of the event-triggering condition, and sampling period of the system. After that, linear matrix inequalities are presented for designing an event-triggered controller with an observer, while the design also includes the region of convergence for dealing with the input non-linearity. Finally, comparative results for an offshore structure model with non-linearity in states as well as in actuator, are demonstrated to verify the results of the control scheme that is developed. It has been verified that our design is less conservative than the previous designs, and can handle the non-linearities in the dynamics of plant and actuator saturation more efficiently, while DoS attacks are also present. By applying our proposed method, the overshoot and undershoot are less than ±2.5 percent, while system states converge to the origin within 55 s.

Modeling and analyzing self-resistance of connected automated vehicular platoons under different cyberattack injection modes

The high-level integration and interaction between the information flow at the cyber layer and the physical subjects at the vehicular layer enables the connected automated vehicles (CAVs) to achieve rapid, cooperative and shared travel. However, the cyber layer is challenged by malicious attacks and the shortage of communication resources, which makes the vehicular layer suffer from system nonlinearity, disturbance randomness and behavior uncertainty, thus interfering with the stable operation of the platoon. So far, scholars usually adopt the method of assuming or improving the car-following model to explore the platoon behavior and the defense mechanism in cyberattacks, but they have not considered whether the model itself has disturbance and impact on cyberattack defenses. In other words, it is still being determined whether the car-following model designed can be fully applicable to such cyberattacks. To provide a theoretical basis for vehicular layer modeling, it is necessary to comprehend the self-resistance of different car-following models faced on various cyberattacks. First, we review the car-following models adopted on the vehicular layer in cyberattacks, involving traffic engineering, physical statistics, and platoon dynamics. Based on the review, we divide the malicious attacks faced by the cyber layer into explicit attacks and implicit attacks. Second, we develop a cooperative generalized force model (CGFM), which combines and unifies the r-predecessors following communication topology. The proposed models, labeled the vulnerable cooperative intelligent driver model (VCIDM), the vulnerable cooperative optimal velocity model (VCOVM), and the vulnerable cooperative platoon dynamics model (VCPDM), incorporate the CGFM model and assorted cyberattack injection modes to explain the cyberattack effects on the platoon self-resistance capability. Upon the described models, we provide six indicators in three dimensions from the basic traffic element, including drivers, vehicles, and environment. These indicators illustrate driver tolerance, vehicle adaptability, and environmental resistance when a platoon faces attacks such as bogus information, replay/delay, and communication interruption. We arrange and reorganize the car-following models and the cyberattack injection modes to complete the research on the self-resistance capability of the platoon, which has positive research value and practical significance for enhancing the endogenous security at the vehicular layer and improving the intrusion tolerability at the cyber layer.

Event-based formation control for multiple unmanned aerial vehicles under directed topology

This paper focuses on the problem of formation control for multiple unmanned aerial vehicles (UAV) subject to cyber attacks by a novel event-triggered communication scheme. An average method is introduced to design the triggering condition of this communication scheme, by which the amount of wrong triggering events caused by the sudden change of system states is greatly decreased, thereby saving a great deal of network bandwidth and reducing network congestion. Considering cyber attacks, a new event-based formation control strategy is developed for multi-UAV systems under directed topology by utilizing a control compensation approach. Sufficient conditions for the multi-UAV system to achieve the desired formation are acquired. Finally, a simulation example is undertaken to demonstrate the effectiveness of the theoretical results.