ETM-Based Fault-Tolerant and Intrusion-Tolerant Control for 2-D Planar Vehicular Platoon With Actual Traffic Scenarios

This paper proposes a fault-tolerant and intrusion-tolerant control strategy for a two-dimensional (2-D) planar vehicular platoon system subject to unknown limitless reversals in fault directions (ULRFDs) and stochastic false data injection attacks (FDIAs). An algorithm is also proposed to realize some actual traffic scenarios such as multi-lane vehicle merging and a single vehicle joining or exiting a platoon. In contrast to the existing results, under stochastic FDIAs, the considered fault directions can be unknown, time-varying, and limitless continuously transformed, as well as the fault frequency is not limited. A novel Nussbaum function with a bounded and adjustable amplitude is constructed using the idea of time-elongation (instead of amplitude-elongation) to attenuate the control input shocks caused by the amplitude-elongation Nussbaum function and to solve the ULRFD problem effectively. Furthermore, two Zeno-free event-triggered mechanisms (ETMs) respectively for velocity and angular velocity are constructed to reduce the communication cost on the controller-actuator channels. It is worth mentioning that a passive intrusion-tolerant method without introducing any additional learning parameter is adopted to solve stochastic FDIAs on the controller-actuator channels. This simplifies our controller structure and reduces the online computational load. Finally, simulation results validate the effectiveness and supremacy of the proposed control strategy and algorithm.