Distributed Longitudinal Resilient Control for Unmanned Vehicular Platoon Systems With Dead-Zones and Attacks

This article deals with the distributed longitudinal resilient control issue of the heterogeneous unmanned vehicular platoon (HUVP) system, which includes the external disturbances, unknown input dead-zones in physical layer, and the malicious communication attacks in control layer. Firstly, by introducing the predefined asymmetric constraint conditions, the transient/steady-state performance and high accuracy of the HUVP closed-loop system can be ensured. Unknown dead-zones nonlinearity and attacks are compensated and approximated by the fixed-time adaptive technologies, respectively. Then, the distributed longitudinal resilient control scheme in sense of prescribed performance fixed-time stability is developed to guarantee the resilience performance of the internal stability, and the time-domain based string stability (TDSS). As a result, the spacing errors can converge to predefined arbitrarily small asymmetric constraint region in a known time. Moreover, the zone-free event-triggered mechanism (ZFETM) is presented to save the energy consumption of the control system. Finally, the results show the feasibility of the proposed control scheme.