Event triggered control of connected vehicles under multiple cyber attacks

This paper investigates an event triggered control problem of connected vehicles under multiple cyber-attacks, including denial-of-service attacks (DoS) and deception attacks, which occur aperiodically. Then, a novel event triggered control scheme is proposed in the presence of multiple cyber-attacks. The upper bound of attack frequency, attack length rate of DoS attacks and the conditions of controller gains are obtained. It is proven that the proposed distributed control scheme can realize the asymptotic tracking performance of connected vehicles while avoiding Zeno behavior. A string stability analysis under multiple cyber-attacks is also provided. Simulation results confirm the effectiveness of the event triggered control schemes under multiple cyber-attacks.