Event-Triggered Resilient Cooperative Control Strategy for Urban Rail Transit Virtually Coupled Train Sets Against Cyber-Attacks

The virtually coupled train set (VCTS) system is a promising urban rail transit paradigm that replaces physical couplers with train-to-train (T2T) wireless communication, enabling dynamic marshaling to achieve the precise matching of transportation demand and resources. However, existing VCTS control strategies either assume perfect leader state availability, rely on continuous communication, or lack guaranteed transient/steady-state performance under Denial-of-Service (DoS) attacks. To address these critical limitations, this paper proposes a unified finite-time resilient event-triggered cooperative control framework for VCTSs against malicious DoS attacks. The proposed framework integrates three synergistic components: a distributed finite-time leader state estimator to reconstruct leader information under intermittent communication interruptions, a prescribed performance finite-time controller to bound tracking error fluctuations and accelerate convergence, and an adaptive event-triggered communication protocol to reduce controller update frequency. The closed-loop system stability, finite-time convergence, and prescribed performance guarantees are rigorously proven via Lyapunov analysis, and Zeno behavior is strictly excluded. Extensive comparative simulations demonstrate that the proposed framework outperforms representative state-of-the-art methods in terms of tracking accuracy, attack resilience, and communication efficiency, achieving a significance reduction of approximately 70% in controller update frequency while maintaining system stability under the considered DoS attack scenarios.