Robust decentralized event-triggered control for leader-follower vehicles with mitigating delays and security threats combining sensor and actuator attacks

In this paper, we present a decentralized event-triggered control strategy designed for leader-follower vehicle systems dealing with input delays, disturbances, and combined sensor and actuator attacks. The primary objective is to achieve asymptotic consensus among vehicles while significantly reducing inter-agent communication and ensuring security against sensor and actuator attacks. This approach leverages local state estimates from neighbouring vehicles, updating them only when specific events are triggered. These events are governed by a decentralized stability-driven condition that ensures robust leader-follower consensus through intermittent communication. We also establish a definitive lower bound on the minimum inter-event interval, demonstrating its effectiveness in reducing communication overhead. Rigorous analysis confirms the strategy's ability to prevent Zeno behaviour under switched dynamics, while Lyapunov-based convergence analysis supports its capability to achieve stable leader-follower dynamics. Finally, simulation results highlight the strategy's effectiveness, showcasing its potential to enhance coordination and efficiency in dynamic vehicle environments.