DoS-resilient event-triggering control of connected vehicles: An attack-parameter-dependent functional method

This article studies the problem of event-triggering formation tracking control for networked autonomous vehicles in the face of denial-of-service (DoS) attacks. Because of the disruptive nature of DoS attacks on vehicle-to-vehicle communication, the traditional control strategy is difficult to accomplish the task of vehicle formation. To overcome this problem, a resilient distributed dynamic event-triggered control strategy is created to mitigate the impact of attacks on intermittent communication. Meanwhile, to optimize network resource utilization, a novel dynamic event-triggered scheme is designed to significantly reduce the frequency of data updates and transmits in the controller. Subsequently, a novel Lyapunov function is established to rigorously analyze the exponential stability of the vehicle formation system. The function incorporates attack-related time-varying parameters and deals with the artificial delay introduced in the model through an interval correlation function, which significantly reduces conservatism and simplifies the stability analysis process. Finally, the effectiveness of the control strategy is confirmed through a simulation study conducted on the vehicle platoon system.