Dynamic event-triggering-based distributed model predictive control of heterogeneous connected vehicle platoon under DoS attacks.

This paper is concerned with the distributed model predictive control (DMPC) for heterogeneous connected vehicle platoon (CVP) under denial-of-service (DoS) attacks. Firstly, a dynamic event-triggering mechanism (DETM) based on the information interaction between vehicles is proposed to reduce the communication and computational burdens. Due to the fact that the triggering moment for each vehicle cannot be synchronized and DoS attacks can break the communication between vehicles, a packet replenishment mechanism is designed to ensure the integrity and effectiveness of information interaction. Then, the effect of external disturbance is handled by adding robustness constraints to the DMPC algorithm. In addition, the recursive feasibility of the DMPC algorithm and input-to-state practical stability (ISPS) of the CVP control system are demonstrated. Finally, the effectiveness of the algorithm is verified by simulation and comparison results. • A general model for the longitudinal dynamics of heterogeneous vehicles with external disturbances is considered. • A secure platooning control protocol is designed for automated vehicles under DoS attacks. • A distributed model predictive control strategy is designed for each follower vehicle. • A dynamic event-triggering mechanism is designed to reduce the communication and computational burdens. [ABSTRACT FROM AUTHOR]