Stability And Safety Of Consensus Control Of Connected Vehicle Systems

With the development of economy and the improvement of living standard,the number of vehicles in China is increasing rapidly.Vehicle brought us convenience,but also sparked many other issues.With the development of intelligent transportation and driving assistant system,it has become an effective solution to solve the above problems to set up connections between vehicles through wireless network and form vehicles as connected vehicle system(CVS)by using consensus algorithm.However,the wireless network used by the CVS leaks in the external environment,which is easily interfered by the environmental noise and communication noise.Except the natural factors,cyber-attacks is also a threat to the network communication.In this paper,the stability and safety of consensus control of the CVS are studied.The system design and control algorithm of the CVS in different scenarios are discussed respectively.The stability analysis is carried out and the stability conditions of the CVS under stochastic noise and cyber-attacks are obtained.The main work of this paper is summarized as follows:1)The consensus of the CVS is researched in the presence of stochastic multiplicative noise.The parameter restriction method is first proposed which achieves the control requirements by restricting the parameters of the designed control protocol.Then we optimize this method so that it can resist the noise with slightly large intensity.However,this method still has limited ability to resist noise of larger intensity.Next we propose another method called the interaction layer method,which can ensure the convergence of the system through introducing a virtual system that interacts with the original CVS.By selecting parameters properly,such method has good performance in resisting larger intensity noise.2)Based on the consensus algorithm,the predictor is introduced to predict the state of the front vehicles during Do S attack.We first prove that the prediction error of the predictor is bounded by selecting appropriate control parameters.Then we further prove that the platoon system with this bounded prediction error is still stable.3)This paper concerns the consensus of the discrete-time CVS in presence of the injection cyber-attacks.First,the necessary and sufficient conditions for the CVS to achieve consensus are derived without cyber-attack.Then,a virtual system,interconnected with the original CVS through the designed interaction network,is introduced to resist cyber attacks.It is proved that the states of CVS can reach consensus and the state errors converge to a certain bound whether attacks exist only in CVS,or in the overall system including both CVS and virtual system.Besides,the validity of the proposed control approach is verified for each scenario by the designed simulations.