Switching-type dynamic event-triggered control of vehicle platooning system under multiple cyber attacks

The open network environment of vehicular ad-hoc networks (VANETs) provides significant benefits to vehicular systems; however, it simultaneously exposes them to a range of potential malicious cyber threats. This paper researches the vehicle platooning control problem in the context of multiple cyber attack scenarios over VANETs, including deception attacks and denial-of-service (DoS) attacks. First, considering the limited nature of communication resources, this paper proposes a periodic switching-type dynamic event-triggering mechanism (ETM). Unlike conventional ETM approaches, this mechanism intelligently switches between different operational modes through an auxiliary variable that depends on the last successful trigger moment, thereby optimizing resource utilization under DoS attack scenarios. Secondly, a piecewise Lyapunov function is formulated for analyzing the associated state of multiple agents, with sufficient conditions established forth to guarantee the exponential stability of the global tracking error system. Finally, the results of experiments and comparisons illustrate the efficacy and advantages of the proposed method. Furthermore, the practical viability of the control scheme is verified through co-simulations conducted with CarSim and MATLAB/Simulink platforms.