Resilient Cooperative Control for High-Speed Trains Under Denial-of-Service Attacks

The denial-of-service (DoS) attacks injected in the communication network of high-speed trains can block the transmission of information between trains by preventing trains from sending data and interfering with communication network. In order to solve this problem, this paper investigates the cooperative control strategy for high-speed trains subject to DoS attacks through a resilient control scheme. A secure control framework is proposed to restore the communication network of the multi-train system caused by DoS attacks to the initial communication network by proposing an acknowledgment-based attack detection strategy and a recovery mechanism. Then, distributed controllers with considering input saturation are proposed under this framework by applying the Lyapunov theory and low-gain feedback method. In addition, the speed error and position error constraints can be guaranteed during the operating process of trains. Finally, the effectiveness of the proposed resilient control scheme is evaluated by the simulation example.

I. Introduction

In Recent years, the high-speed railway network has become an essential part of the public transportation. It is particular true in China which has a high-speed railway network over 38,000 km. The traditional train control system has been undergoing a huge revolution and towards to the intelligent automatic train control (ATC) system, which significantly improves the reliability and efficiency of the high-speed railway system [1]. As a typical example, the Jing-Zhang high-speed railway in China, as a representation of intelligent high-speed railway, trains equipped with the ATC system achieve automatic driving with the operation speed of 350 km/h for the first time in the world. Predictably, intelligent high-speed railways will become the development direction in the future. In China, the Chinese Train Control System (CTCS), especially the latest CTCS Level 3 (CTCS-3) provides technology and infrastructure conditions for future intelligent high-speed railways [2]. In CTCS-3, the information exchange between trains can be achieved through the Global System for Mobile communications-for Railway (GSM-R) and Radio Block Center (RBC), which enables cooperative control of high-speed trains.