Distributed Control of Vehicle Platoon with Input Saturation Under DoS Attacks

This paper focuses on the control of connected vehicle platoon when subjected to random Denial-of-Service (DoS) attacks. Firstly, to better describe the impact of a random DoS attack, the attack is modeled as a random communication topology switching process using a stochastic Markov process. Then, to cope with the DoS attack, a security control law con-sidering the dynamic coupling between vehicles and the input saturation property is proposed on the basis of the recovery mechanism. After that, the relevant parameters of the proposed controller are calculated by solving the linear matrix inequality (LMI), while the Lyapunov- Razumikhin theory is applied to es-tablish a sufficient condition for the stabilization of the platooning system under DoS attack. Finally, the performance of the proposed control protocol is confirmed by the numerical simu-lation of a vehicular platoon system containing one leader vehi-cle and six follower vehicles.