ADRC Controller Design for Autonomous Vehicles Queuing Systems in Zero-Trust Environment

In recent years, the integration of advanced technologies in the Intelligent Connected Vehicle (ICV) field has attracted many scholars' interests, and their safety and efficiency improved significantly. However, with the increasing number of cyber attacks and security threats in modern vehicle networks, the communication environment of vehicle is deteriorated. To solve this problem, studying the topics in zero-trust environment instead of the classic full-trust environment is becoming a effective approach. Because the traditional centralized control system is considered to be insufficient to ensure the security and reliability of ICVs, the distributed system is applied to research the ICVs. In this paper, an active disturbance rejection control (ADRC) is utilized to decrease the unknown input perturbations brought by zero-trust environment to the ICV queuing system. And it also need to ensure the stability of the vehicle formation, and to mitigate the disturbances in the dynamic driving environment. The ADRC utilizes the principles of zero-trust architecture and active disturbance rejection control to enhance the robustness and security of the queue management of ICV s. In the end, the performance of the proposed ADRC is evaluated through extensive simulations and analysis, which is to demonstrate its effectiveness and superiority in maintaining a safe and efficient vehicle queue.