Event-Triggered Platooning Control for Connected Vehicle Systems Under Denial-of-Service Attacks and External Disturbances

This study examines the event-triggered platooning control of Connected Vehicle Systems (CVSs) considering denial of service (DoS) attacks, external disturbances, and unknown leader inputs. To counteract malicious attacks, a network recovery mechanism is implemented to repair the spanning tree destroyed by DoS attacks. Switching topologies containing the spanning-tree-retained cases and the spanning-tree-destroyed cases are utilized to depict cyber states during DoS attacks and recovery mechanism. To reduce data transmission in V2V (vehicle-to-vehicle) communication, based on the switching topology model, the event-triggered mechanism (ETM) is further implemented to schedule the information transmission over the Vehicle Ad Hoc Network (VANET) effectively. In the absence of disturbances and leader inputs, the sufficient conditions are derived for CVSs employing the event-triggered V2V communication to achieve internal stability under DoS attacks. The constraints on the duration and frequency of the spanning tree being destroyed by the DoS attacks are derived. Furthermore, the propagation of external disturbances and unknown leader inputs along the platoon is proven to meet the prescribed $H_\infty$ attenuation level by the Lyapunov-based methods. Finally, simulations featuring several scenarios are given to verify the theory's discoveries.