Distributed Fuzzy Resilient Control for Vehicular Platooning System With Multiple Nodes Attacks in Prescribed Performance

Intelligent connected vehicular platooning system (ICVPS) based on vehicular ad-hoc networks (VANETs) is easy to be attacked by multiple malicious nodes in the communication channel. Different from the attacks issue on the feedback channel communication, malicious nodes not only initiate the attack on the controller-actuator channels of the control layer but also tamper V2V communication interaction on the VANETs. This article investigates the issue of distributed fuzzy adaptive resilient control in prescribed performance for the ICVPS subject to multiple node attacks and disturbances. Firstly, a nonlinear state compensation estimator is developed to eliminate the influence of multiple node attacks on state information. Then, by using the designed exponential spacing policy and the hyperbolic arc-tangent asymmetric barrier Lyapunov function (BLF), the distributed adaptive resilient control scheme is proposed to achieve string stability in prescribed asymmetric constraints performance and fast finite-time stability. The uncertain attack weights and fuzzy weights are compensated by a series of adaptive laws. Finally, the comparative experimental results validate the effectiveness of the presented control scheme.