A Hybrid Controller for DOS-Resilient String-Stable Vehicle Platoons

TL;DR

This paper introduces a hybrid control approach for vehicle platoons that maintains stability and performance despite communication disruptions caused by DOS attacks, using LMI-based controller tuning.

Contribution

It proposes a novel LMI-based controller tuning method that enhances DOS attack resilience in vehicle platoons while ensuring string stability.

Findings

Controller gains maximize resilience to packet dropouts.

Lower bound on maximum allowable consecutive dropouts established.

Numerical example demonstrates effectiveness of the approach.

Abstract

This paper deals with the design of resilient Cooperative Adaptive Cruise Control (CACC) for homogeneous vehicle platoons in which communication is vulnerable to Denial-of-Service (DOS) attacks. We consider DOS attacks as consecutive packet dropouts. We present a controller tuning procedure based on linear matrix inequalities (LMI) that maximizes the resiliency to DOS attacks, while guaranteeing performance and string stability. The design procedure returns controller gains and gives a lower bound on the maximum allowable number of successive packet dropouts. A numerical example is employed to illustrate the effectiveness of the proposed approach.