Observer-Based Prescribed-Time Resilient Control for 2-D Plane Heterogeneous Vehicular Platooning System With Hybrid Communication Threats

In this paper, the distributed prescribed-time resilient control problem of the two-dimensional (2-D) plane heterogeneous connected vehicular platooning system (HCVPS) subject to the weaken communication and false data injection (FDI) communication attack threats is investigated. Firstly, for achieving the multi-lane vehicle merging, longitudinal following, and vehicular platooning lane changing, the third-order nonlinear dynamics of the HCVPS on the 2-D plane are considered. By developing the distributed information reconstruction observer, the weaken communication problem of leading vehicle can be mitigated by each following vehicles within a prescribed time. A distributed prescribed-time resilient control modeling framework is proposed that maintains the resilience performance and the desired safety inter-vehicle distance, ensures string stability within a prescribed-time. Finally, the results of Simulation of Urban Mobility (SUMO)-Simulink joint experimental platform and comparison cases are shown to verify the effectiveness of the developed scheme.