Hierarchical distributed data-driven secure platooning control under FDI attacks

This paper investigates the hierarchical distributed data-driven secure control problem for nonlinear vehicular platooning systems (VPSs) under false data injection (FDI) attacks. To achieve stable operation of VPSs, this paper introduces an algorithm that merges attack detection and compensation with the model-free adaptive control (MFAC) method. To achieve this objective, a two-layer control framework is proposed. The upper layer acts as a distributed estimation layer with an adaptive observer to estimate the leader's state. This addresses the issue that certain followers lack direct access to the leader's information. The lower layer acts as a secure tracking control layer, in which a data-driven controller embedded with an FDI attack detection and compensation mechanism is developed to ensure the secure tracking control. Through the use of the constructed Lyapunov function, a rigorous proof of the closed-loop system's stability is provided. The proposed algorithm performs effectively, as evidenced by simulation and comparative results.