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Distributed Fault-Tolerant Consensus Control of Vehicle Platoon Systems With DoS Attacks

Liu, Chun; Xia, Zhiwei; Patton, Ron J.


Chun Liu

Zhiwei Xia


Vehicle platoon systems are regarded as autonomous vehicles in the platooning pattern, in which vehicles drive in sequence and maintain the desired inter-vehicle spacing. This paper investigates the platoon control problem of vehicle platoon dynamics under cyber-physical threats through the distributed fault-tolerant consensus control protocol. Complicated sensor and actuator faults in the physical layer and aperiodic denial-of-service (DoS) attacks in the cyber layer are modeled, respectively. Decentralized fault-estimation unknown input observers and event-triggered distributed anti-DoS-attack fault-tolerant consensus controllers are devised in a co-designed framework, thus maintaining not only the tolerance and resilience of platoon consensus errors and estimation errors but also the secure vehicle avoidance spacing by virtue of attack frequency and average dwelling time indicators. Simulations and experiments validate the distributed control algorithm in the pernicious short-cycle and long-cycle DoS attack scenarios.


Liu, C., Xia, Z., & Patton, R. J. (in press). Distributed Fault-Tolerant Consensus Control of Vehicle Platoon Systems With DoS Attacks. IEEE Transactions on Vehicular Technology,

Journal Article Type Article
Acceptance Date May 28, 2024
Online Publication Date May 28, 2024
Deposit Date Jun 15, 2024
Publicly Available Date Jun 17, 2024
Journal IEEE Transactions on Vehicular Technology
Print ISSN 0018-9545
Electronic ISSN 1939-9359
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Keywords Distributed fault-tolerant consensus control; Decentralized fault-estimation; Vehicle platoon systems; Aperiodic DoS attacks; Actuator and sensor faults
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Accepted manuscript (8.5 Mb)

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