Zonotopic Attack Detection and Control Algorithm for Vehicle Platooning

This paper focuses on enhancing the detection of cyber attacks and implementing distributed control mechanisms in automated vehicles, specifically to ensure lateral stability and reliable vehicle following. To accomplish the objective, the paper presents a comprehensive architecture that consists of an attack detector, a resilient observer, and a distributed model predictive controller. The zonotopic attack detector can identify attacks launched against sensor measurements. The observer guarantees tight error bounds, despite the presence of stealthy attacks. The stability of the entire system is ensured by the proposed model predictive controller. The numerical simulations and physical experiments demonstrate that even in the presence of stealthy attacks, the vehicle state estimation errors remain bounded and formation stability is maintained.