Distributed Fault-Tolerant Control of Connected Vehicle Platoon in A Zero-Trust Environment

In the zero-trust environment, the communication topology of the intelligent connected vehicle platoon is in dynamic change due to the mutual distrust between vehicles, which affects the fault-tolerant control performance of the vehicle platoon to a certain extent. Aiming at this problem, this paper studies fault-tolerant control of connected vehicle platoon in a zero-trust environment. Firstly, the communication topology structure between vehicles in a zero-trust environment is introduced, and the trust factor trust factor serves to redefine the structure of the communication topology. Secondly, the state observer and error estimator are designed to estimate the state and error considering that the system may not be able to obtain its own state in the case of failure, and the stability of the error system is analyzed by Lyapunov method. Then, a distributed controller is designed to eliminate the error. Finally, the stability and error tracking convergence of the system are verified by simulation experiments.