Vehicle Platooning Based on Second-Order Pinning Consensus Control and its Cyber Attack Detection

In this paper, we propose a vehicle platooning method based on pinning consensus control and its cyber attack detection. The consensus problem, in which the state of each agent is matched through communications, is a well-known control problem. Pinning control is a method of adding external control inputs to pre-specified agents called pinning agents. This control method can set the state of an agent to a value other than its initial average value or increase the rate at which it converges. Model predictive control (MPC) involves obtaining control inputs by solving the finite-time optimal control problem at each discrete time. Using pinning consensus control and MPC, we consider vehicle group control, in which multiple vehicles are controlled as a single group. In addition, a method for detecting cyber attacks on pinning agents is also proposed.