Resilient consensus of discrete-time connected vehicle systems with interaction network against cyber-attacks

作者：Liu, Yonggui^*; Li, Ziyuan; Shen, Zhiping

来源：JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2021, 358(5): 2780-2800.

DOI：10.1016/j.jfranklin.2020.12.035

• PHYSICAL SYSTEMS

This paper concerns the consensus of the second-order discrete-time autonomous connected vehicle system (CVS) in presence of cyber-attacks. First, the necessary and sufficient conditions for the autonomous CVS are derived without a cyber-attack. Then, a virtual system in hidden layer, interconnected with the original CVS in platoon layer through the designed interaction network, is introduced to resist cyber attacks. Matrix analysis tool, algebraic graph theory and Lyapunov stability method are used to analyze the convergence of CVS. It is proved that the states of CVS can reach consensus and the state errors converge to a certain bound in the case of attacks existing only in hidden layer, or in the overall system including both hidden layer and platoon layer. Finally, the validity of the proposed control approach is verified by the designed simulations. ? 2021 The Franklin Institute. Published by Elsevier Ltd.