Historical Attack-Intensity-Based Event-Triggered Platoon Control of Connected Vehicles Under Actuator Failures and DoS Attacks

This paper considers the event-triggered (ET) platoon control of connected vehicles in the presence of actuator failures and DoS attacks. First, a historical attack-intensity-based ET mechanism is proposed to optimize communication resources. Compared with the existing event trigger mechanism, this mechanism utilizes not only the state error information but also historical attack intensity data to dynamically adjust the trigger threshold, which further conserves communication resources and enhances design flexibility in the case of DoS attacks. Next, a security platoon control scheme is designed to resist actuator faults and DoS attacks, and a delay switched system model is introduced to describe the vehicle platoon tracking error system. Then, a novel Lyapunov functional is developed and combined with switching techniques to establish sufficient conditions for the exponential stability of the tracking error system. Additionally, a co-design method of controller gain and event trigger parameters is proposed. Finally, simulation examples validate the superiority of the proposed historical attack-intensity-based ET platooning control scheme.