Resilient DMPC-Based String Stable Platoon Control Under DoS Attacks

In this paper, a resilient distributed model predictive control (DMPC) algorithm is proposed for the networked vehicle platoon system under denial-of-service (DoS) attacks. It is difficult to ensure the system-level stablibity and string stability of the networked vehicle platoon system simultiniously in the presence of DoS attacks. To this end, an optimization problem is established, which is related to the trajectories of the system. To minimize the cost function, the last-step shifting technique is employed and the assumed solution is determined by the local optimal solution. The last optimal solution without the occurrence of DoS attacks is used as the reference trajectory. This reference trajectory is then transmitted to the interconnected vehicles within the system. Demonstrating the stability of the closed-loop platoon system is achieved by using the Lyapunov function, which is designed by the sum of the cost function. String stability of the platoon system, the unique characteristic of platoon systems, is proven through rigorous mathematical derivation. Compared with existing results, the vehicle platoon system under DoS attacks can be converged both the internal and closed-loop stability. Finally, several simulation and experimental results are presented to verify the effectiveness of the proposed method.