Funnel-based adaptive fuzzy formation control for nonlinear vehicle platoon systems under replay attacks

This paper studies the problem of adaptive fuzzy output feedback funnel secure control for vehicle platoon systems under replay attacks, which contains nonlinear dynamics and unmodeled dynamic. Fuzzy system is adopted to identify unknown nonlinear dynamics, then fuzzy observer is designed to estimate the immeasurable states, and funnel functions are introduced to constrain the distance between each vehicle. By introducing Lipschitz conditions, it is possible to analyse the error changes of systems subjected to replay attacks and obtain the threshold for error changes. By using the changing supply function technique to address the unmodeled dynamics, an observer-based robust secure adaptive fuzzy funnel formation control scheme is developed. Based on Lyapunov stability theory, it can ensure all signals of the controlled system are bounded, and the desired spacing and avoid collision can be maintained. Finally, a simulation is considered to verify the effectiveness of the developed control algorithm.