Distributed Adaptive Event-Triggered Control of Connected Automated Vehicle Platoon Systems With Spoofing Cyber Attacks

Due to the utilization of Cellular Vehicle-to-Everything (C-V2X) wireless communication network, the communication process of connected automated vehicle platoon systems is susceptible to external malicious attacks. This paper proposes an effective distributed control framework for connected automated vehicle platoon systems in the presence of spoofing cyber attacks. Firstly, Bernoulli random variables are utilized to model the random nature of spoofing attacks within the platoon systems, and an adaptive event-based communication strategy is adopted to optimize network resource utilization and prevent redundant information transmission. Secondly, a distributed state-feedback controller is designed, leveraging both the adaptive event-triggered approach and the linear matrix inequality (LMI) approach, considering the influence of random and energy-limited spoofing attacks. Thirdly, through the application of the Lyapunov stability theory, the system with the platooning controller, despite the presence of spoofing cyber attacks, is proved to be asymptotically stable. Finally, numerical examples are presented to demonstrate the feasibility and effectiveness of the proposed controller.