Secured Consensus Control for Multi-vehicle Time-delay Systems Based on Switching Gain Under DoS Attacks

Networked electric vehicles rely on wireless communication to achieve cooperative lateral motion control. However, the measurement and control channels are vulnerable to denial-of-service (DoS) attacks, and external disturbances together with communication delays can significantly degrade lateral control performance. In this research, an investigation is conducted on the secure consensus problem for a multi-vehicle lateral dynamics system with time delays and parametric uncertainties under DoS attacks, and an event-triggered resilient distributed controller with switching gains is designed. First, a time-delay model of the vehicle lateral dynamics is established, and the closed-loop system is represented as a switched system composed of a normal mode and a DoS-affected mode. To improve the utilization of communication and control resources, an event-triggered mechanism is introduced to determine the instants for updating the control inputs. Second, to overcome the enlargement of the effective attack duration caused by the misalignment between the termination of each DoS interval and the event-triggered sampling instants, a recovery-time compensation scheme is designed to cover the waiting time associated with the triggering margin. Then, by constructing multiple Lyapunov-Krasovskii functionals, a set of bilinear matrix inequalities (BMI) is derived, and their solution provides the desired feedback gain matrices for the system under different operating modes. Numerical simulations demonstrate that the proposed control scheme effectively withstands DoS attacks, suppresses external disturbances, and enhances the lateral consensus performance of vehicles.