Resilient Adaptive Finite-Time Fault-Tolerant Control for Heterogeneous Uncertain and Nonlinear Autonomous Connected Vehicles Platoons
This paper addresses the control problem of heterogeneous uncertain nonlinear autonomous vehicle platoons in the presence of adversarial threats arising in Vehicular Ad-hoc NETworks (VANET) during the information sharing process. As unpredictable faults and/or malicious attacks may affect the trustw...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Open Journal of Intelligent Transportation Systems |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10168202/ |
| _version_ | 1797774903886217216 |
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| author | Bianca Caiazzo Dario Giuseppe Lui Alberto Petrillo Stefania Santini |
| author_facet | Bianca Caiazzo Dario Giuseppe Lui Alberto Petrillo Stefania Santini |
| author_sort | Bianca Caiazzo |
| collection | DOAJ |
| description | This paper addresses the control problem of heterogeneous uncertain nonlinear autonomous vehicle platoons in the presence of adversarial threats arising in Vehicular Ad-hoc NETworks (VANET) during the information sharing process. As unpredictable faults and/or malicious attacks may affect the trustworthiness of the messages shared among vehicles, a suitable resilient control law, able to enhance the robustness of the platoon formation, is required for the prevention of dangerous events. With the aim of achieving a safe platoon control, we leverage Multi-Agent System (MAS) framework and we design a novel distributed backstepping finite-time control strategy, embedding adaptive mechanisms able to guarantee vehicles fleet resilience with respect to possible occurring faults. The proposed strategy falls into the passive fault-tolerant control framework and, hence, it does not require additional observers for fault detection and isolation, thus reducing the computational burden. Adaptive mechanisms are designed according to Lyapunov-based theory which, in combination with the Barbalat lemma, ensures the stability of the closed-loop vehicular network. More specifically, our approach allows guaranteeing the convergence towards zero of the spacing and speed errors, while ensuring that all adaptive signals are bounded in a finite-time interval. A detailed simulation analysis, including a comparison w.r.t. the technical literature, confirms the theoretical derivation, the effectiveness and the advantages of the proposed resilient control law in ensuring platoon formation for different driving scenarios despite the occurrence of unexpected faults. |
| first_indexed | 2024-03-12T22:27:56Z |
| format | Article |
| id | doaj.art-b50d53e78a29420bb14320773383d280 |
| institution | Directory Open Access Journal |
| issn | 2687-7813 |
| language | English |
| last_indexed | 2024-03-12T22:27:56Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Open Journal of Intelligent Transportation Systems |
| spelling | doaj.art-b50d53e78a29420bb14320773383d2802023-07-21T23:01:22ZengIEEEIEEE Open Journal of Intelligent Transportation Systems2687-78132023-01-01448149210.1109/OJITS.2023.329081510168202Resilient Adaptive Finite-Time Fault-Tolerant Control for Heterogeneous Uncertain and Nonlinear Autonomous Connected Vehicles PlatoonsBianca Caiazzo0https://orcid.org/0000-0002-1676-2814Dario Giuseppe Lui1https://orcid.org/0000-0002-5748-8049Alberto Petrillo2https://orcid.org/0000-0003-4630-6673Stefania Santini3https://orcid.org/0000-0002-0754-6271Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, ItalyDepartment of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, ItalyDepartment of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, ItalyDepartment of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, ItalyThis paper addresses the control problem of heterogeneous uncertain nonlinear autonomous vehicle platoons in the presence of adversarial threats arising in Vehicular Ad-hoc NETworks (VANET) during the information sharing process. As unpredictable faults and/or malicious attacks may affect the trustworthiness of the messages shared among vehicles, a suitable resilient control law, able to enhance the robustness of the platoon formation, is required for the prevention of dangerous events. With the aim of achieving a safe platoon control, we leverage Multi-Agent System (MAS) framework and we design a novel distributed backstepping finite-time control strategy, embedding adaptive mechanisms able to guarantee vehicles fleet resilience with respect to possible occurring faults. The proposed strategy falls into the passive fault-tolerant control framework and, hence, it does not require additional observers for fault detection and isolation, thus reducing the computational burden. Adaptive mechanisms are designed according to Lyapunov-based theory which, in combination with the Barbalat lemma, ensures the stability of the closed-loop vehicular network. More specifically, our approach allows guaranteeing the convergence towards zero of the spacing and speed errors, while ensuring that all adaptive signals are bounded in a finite-time interval. A detailed simulation analysis, including a comparison w.r.t. the technical literature, confirms the theoretical derivation, the effectiveness and the advantages of the proposed resilient control law in ensuring platoon formation for different driving scenarios despite the occurrence of unexpected faults.https://ieeexplore.ieee.org/document/10168202/Resilient platoon controldistributed fault-tolerant tracking controldistributed adaptive backstepping controlfinite-time stability |
| spellingShingle | Bianca Caiazzo Dario Giuseppe Lui Alberto Petrillo Stefania Santini Resilient Adaptive Finite-Time Fault-Tolerant Control for Heterogeneous Uncertain and Nonlinear Autonomous Connected Vehicles Platoons IEEE Open Journal of Intelligent Transportation Systems Resilient platoon control distributed fault-tolerant tracking control distributed adaptive backstepping control finite-time stability |
| title | Resilient Adaptive Finite-Time Fault-Tolerant Control for Heterogeneous Uncertain and Nonlinear Autonomous Connected Vehicles Platoons |
| title_full | Resilient Adaptive Finite-Time Fault-Tolerant Control for Heterogeneous Uncertain and Nonlinear Autonomous Connected Vehicles Platoons |
| title_fullStr | Resilient Adaptive Finite-Time Fault-Tolerant Control for Heterogeneous Uncertain and Nonlinear Autonomous Connected Vehicles Platoons |
| title_full_unstemmed | Resilient Adaptive Finite-Time Fault-Tolerant Control for Heterogeneous Uncertain and Nonlinear Autonomous Connected Vehicles Platoons |
| title_short | Resilient Adaptive Finite-Time Fault-Tolerant Control for Heterogeneous Uncertain and Nonlinear Autonomous Connected Vehicles Platoons |
| title_sort | resilient adaptive finite time fault tolerant control for heterogeneous uncertain and nonlinear autonomous connected vehicles platoons |
| topic | Resilient platoon control distributed fault-tolerant tracking control distributed adaptive backstepping control finite-time stability |
| url | https://ieeexplore.ieee.org/document/10168202/ |
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