Heterogeneous Topology-Based Event-Triggered Consensus Control of Autonomous Motorcade Systems Against Deception Attacks

This paper investigates the consensus control problem of autonomous motorcade systems with heterogeneous topology (HT) considering deception attacks. First, an HT communication method is developed to optimize the information exchange of position, velocity, and acceleration data among vehicles, thereby enhancing inter-vehicle connectivity. To alleviate the burden on the communication network, a novel HT-based event-triggered mechanism is proposed. An HT-based event-triggered control strategy is then developed for autonomous motorcade systems to counteract deception attacks. Sufficient conditions for the HT-based event-triggered autonomous motorcade tracking are derived using Lyapunov stability theory. Finally, the effectiveness and advantages of the proposed control strategy are verified through numerical simulation comparisons.