Consensus Control and Sensor Fault Diagnosis of Heterogeneous Intelligent Connected Vehicles With Time-Varying Parameters and Random Noises Under Zero-Trust Architecture

This paper explores the problem of consistency control and sensor fault diagnosis for a class of intelligent connected vehicles with heterogeneous, time-varying nonlinear characteristics and random noise under a zero-trust architecture. Firstly, the vehicle platooning problem under zero-trust was analyzed in detail, and the mathematical model of the entire system was obtained. The generalized time-varying nonlinear intelligent connected vehicle platoon system without sensor faults was constructed using extended state vectors. Subsequently, based on the robust filter method and drawing lessons from the dedicated observer scheme, a novel robust filter is designed to reduce residual errors and improve the accuracy of state and sensor fault estimation. Using the estimation results of the filters for extended systems, a distributed consistency control protocol is designed for the intelligent connected vehicle platoon system, which calculates the gain coefficient of each intelligent connected vehicle to achieve consistency control through system dimension extension and linear matrix inequalities. In addition, drawing on the framework of the dedicated observer scheme, a sensor fault detection and isolation method was designed for the intelligent connected vehicle platoon system based on the zero-trust architecture. Finally, the effectiveness and efficiency of the developed methods are demonstrated through simulations and experimental examples.