Distributed resilient event-triggered platoon control for CAVs with time-varying vehicle count under hybrid attacks

Abstract

This paper investigates the distributed platoon control problem of connected automated vehicles (CAVs) subject to a time-varying vehicle count and hybrid attacks, a critical extension of conventional platoon control methods limited to fixed vehicle numbers. For the core challenge of dynamically changing vehicle quantities, an impulse-time-dependent average Lyapunov function is adopted to conduct rigorous stability analysis of the platoon system. A hybrid cyber attack composed of agent-based attacks and denial-of-service (DoS) attacks is proposed, and a platoon control strategy for a time-varying vehicle count under hybrid attacks is designed. A Zeno-free event-triggered mechanism (ETM) is further introduced to eliminate redundant state transmission, thereby enhancing communication efficiency and reducing resource consumption of the CAVs platoon system. Sufficient conditions related to attack indexes and control parameters are derived, which ensure the achievement of resilient platoon control objectives despite the coexistence of hybrid attacks and dynamic vehicle number variations. Numerical simulation results are finally presented to verify the feasibility and effectiveness of the proposed control methodologies and strategies.