Distributed Platooning Control of Automated Vehicles Subject to Replay Attacks Based on Proportional Integral Observers  

作　　者：Meiling Xie Derui Ding Xiaohua Ge Qing-Long Han Hongli Dong Yan Song 

机构地区：[1]Department of Control Science and Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China [2]School of Science,Computing and Engineering Technologies,Swinburne University of Technology,Melbourne VIC 3122,Australia [3]Artificial Intelligence Energy Research Institute,Northeast Petroleum University,Daqing 163318,the Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control,Northeast Petroleum University,Daqing 163318 [4]Sanya Offshore Oil&Gas Research Institute,Northeast Petroleum University,Sanya 572024,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2024年第9期1954-1966,共13页自动化学报（英文版）

基　　金：supported in part by the National Natural Science Foundation of China (61973219,U21A2019,61873058);the Hainan Province Science and Technology Special Fund (ZDYF2022SHFZ105)。

摘　　要：Secure platooning control plays an important role in enhancing the cooperative driving safety of automated vehicles subject to various security vulnerabilities.This paper focuses on the distributed secure control issue of automated vehicles affected by replay attacks.A proportional-integral-observer(PIO)with predetermined forgetting parameters is first constructed to acquire the dynamical information of vehicles.Then,a time-varying parameter and two positive scalars are employed to describe the temporal behavior of replay attacks.In light of such a scheme and the common properties of Laplace matrices,the closed-loop system with PIO-based controllers is transformed into a switched and time-delayed one.Furthermore,some sufficient conditions are derived to achieve the desired platooning performance by the view of the Lyapunov stability theory.The controller gains are analytically determined by resorting to the solution of certain matrix inequalities only dependent on maximum and minimum eigenvalues of communication topologies.Finally,a simulation example is provided to illustrate the effectiveness of the proposed control strategy.

关 键 词：Automated vehicles platooning control proportional-integral-observers(PIOs) replay attacks TIME-DELAYS 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U463.6[自动化与计算机技术—控制科学与工程]