Resilient Control Design of the Third-Order Discrete-Time Connected Vehicle Systems Against Cyber-Attacks

This paper investigates the consensus problems of the third-order discrete-time Connected Vehicle Systems (CVSs) under cyber-attacks. First, the necessary and sufficient conditions for consensus of third-order discrete-time CVSs are derived in the absence of attacks by using algebraic graph and matrix theory. Then the interaction network framework between the original CVSs in the vehicle platoon layer and a virtual system in the hidden layer is established to resist cyber-attacks. Since sufficiently large attacks can be excluded from CVSs through a threshold defense mechanism, such potential attacks considered are bounded and generated by any linear or non-linear finite L2-gain exogenous dynamics system. It is proved that the stability of CVSs can be ensured and the state errors converge to a bounded range whether the attacks exist only in the vehicle platoon layer or in the overall systems (including the vehicle platoon layer and the hidden layer) by using the Lyapunov stability method. Finally, a simulation example containing several scenarios demonstrates the effectiveness and superiority of the proposed methods.