Resilient Data-Driven Security Platoon Control for Heterogeneous Vehicle Systems Under Saturation and External Disturbances

This paper proposed a model-free adaptive security control (MFASC) method designed for nonlinear vehicle systems, simultaneously tackling controller saturation, external disturbances, and aperiodic Denial-of-Service (DoS) attacks. To achieve a desired platoon control objective with only input-output data, the dynamics are reconstructed into a differential form with pseudo partial derivative parameters. Under saturation constraints, a de-saturation factor is introduced to ensure the controller’s state remains within permissible limits. Additionally, a disturbance observer is included to estimate external disturbances and mitigate their negative effects. For aperiodic DoS attacks, an attack compensation mechanism is developed. Comprehensive stability analysis demonstrates the ultimate boundedness of the formation error of vehicle systems under aperiodic DoS attacks. The validity of the theoretical results is supported by numerical simulations.