Attack resilient control for vehicle platoon system with full states constraint under actuator faulty scenario

Highlights：

• In the controller design, all the states of each vehicle are with constraints so as to fit the demands in real application. The proposed BLF-PPC control framework is a novel one in that the singularity problem in traditional PPC methods is solved by using an interval notion-based error transformation approach. To offset the disturbance, an interval observer-based identical reconstruction method is provided and the control input is decoupled from the reconstruction process.

• During the attack diagnosis, the proposed virtual system functions as the ideal system which is immune from the FDI attack. Based on this, a fixed threshold-based attack detection method is realized. In addition, the detection process is simplified and the estimation for the authentication signal is eliminated. As for the attack estimation module, the estimation process can be done within a finite time and the accurate bound for the FDI attack is not necessary.

• Differing from the existing fixed-threshold fault detection methods, a more accurate detection result can be ensured in this paper by importing the time-varying detection threshold. As for the fault estimation observer, the given intermediate variable even bridges the system states and the fault together such that the fault estimation is accomplished by the pure mathematical calculations of the system state and the intermediate variable.

• In this paper, not only the FDI attack but also the actuator fault is considered. Due to the differences in the characteristics and the working mechanism, the impacts caused by FDI attack and actuator fault are discussed separately. This leads to the development of the attack and fault diagnosis modules. In addition, the resilient controller, attack and fault diagnosis modules can be designed separately.