Event‐triggered platooning control for heterogeneous vehicles under denial‐of‐service attacks and time delays: A topology recovery approach

Abstract This paper investigates the distributed event‐triggered platooning control problem for the heterogeneous connected vehicle system (CVS) under denial‐of‐service (DoS) attacks and time delays. A topology recovery approach is developed to restore the communication topology compromised by DoS attacks, which enhances the resilience of the CVS against cyberattacks. To improve the communication efficiency, a Zeno‐free event‐triggered mechanism (ETM) is implemented to reduce the unnecessary vehicle‐to‐vehicle (V2V) information exchange. Sufficient conditions for the heterogeneous CVS to achieve the platooning control objective under DoS attacks and time delays are established via Lyapunov methods. Finally, three categories of simulation experiments are presented to show the superior performance of the proposed approaches.