假数据注入攻击下网联车队的自适应神经网络-动态事件触发弹性控制
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兰州理工大学自动化与电气工程学院

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TP273

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甘肃省重点研发计划(24YFGA028);甘肃省产业支撑计划项目(2024CYZC-18);中央引导地方科技发展资金(25ZYJA027)


Resilient control for connected vehicle platoons under false data injection attacks via an adaptive neural network-based dynamic event-triggered mechanism
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Science and Technology Special Project of Gansu Province in China(24YFGA028);Industrial support plan project of Gansu Province in China(2024CYZC-18);The Central Guidance on Local Science and Technology Development Fund of Gansu Province(25ZYJA027)

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    摘要:

    针对高速公路场景下网联车队遭受虚假数据注入(False Data Injection, FDI)攻击时的编队安全与通信资源优化双重挑战,提出融合攻击参数显式建模与编队误差约束的神经网络-动态事件触发弹性控制策略,实现攻击抑制与通信优化的统一。具体包括:1)构建嵌入FDI攻击时变特性的分布式输出反馈架构,设计径向基函数(RBF)神经网络状态观测器,将攻击参数显式建模于观测器结构与自适应更新律中,通过神经网络动态逼近攻击信号,重构不可测车辆状态;2)设计由攻击强度与神经逼近误差双驱动的动态事件触发条件,通过引入受攻击强度负反馈调节的动态阈值变量,形成“攻击增强→动态变量衰减→触发阈值降低→通信频率提升”的闭环自适应机制,实现攻击抑制与通信优化的动态平衡;3)构造攻击参数依赖型李雅普诺夫泛函,包含神经权重误差、状态估计误差与触发动态变量,并基于线性矩阵不等式(LMI)证明闭环系统所有信号的半全局一致最终有界性(SGUUB),降低了保守性。理论分析证明该策略保障了攻击与通信约束下的编队安全;仿真结果显示,在时变FDI攻击下,编队误差小于2m,通信负载较时间触发降低96.4%,收敛速度与控制精度优于传统分离设计方法,验证其有效性和工程潜力。

    Abstract:

    Addressing the dual challenges of platoon safety and communication resource optimization for connected vehicle platoons (CVPs) subject to False Data Injection (FDI) attacks in highway scenarios, this paper proposes a resilient control strategy that integrates an adaptive neural network with a dynamic event-triggered mechanism. The proposed strategy incorporates explicit modeling of attack parameters and platoon error constraints to unify attack mitigation and communication optimization. Specifically, the main contributions are three-fold: 1) A distributed output feedback framework incorporating time-varying FDI attack characteristics is established, alongside a Radial Basis Function (RBF) neural network-based state observer. By explicitly modeling attack parameters within the observer structure and the adaptive update laws, unmeasurable vehicle states are reconstructed via the neural network"s dynamic approximation of the attack signals. 2) A dynamic event-triggered condition, driven by both attack intensity and neural approximation errors, is developed. By introducing a dynamic threshold variable regulated by attack intensity negative feedback, a closed-loop adaptive mechanism—characterized by "attack enhancement → dynamic variable decay → trigger threshold reduction → communication frequency increase"—is formulated, achieving a dynamic balance between attack mitigation and communication efficiency. 3) An attack-parameter-dependent Lyapunov functional is constructed, accounting for neural weight errors, state estimation errors, and dynamic triggering variables. Utilizing Linear Matrix Inequalities (LMIs), the semi-global uniform ultimate boundedness (SGUUB) of all signals in the closed-loop system is rigorously proven, effectively reducing the conservatism of the stability criteria. Theoretical analysis confirms that the proposed strategy ensures platoon safety under both attack and communication constraints. Simulation results demonstrate that under time-varying FDI attacks, the maximum platoon error remains within 2 m, and the communication load is reduced by 96.4% compared to traditional time-triggered mechanisms. Furthermore, both the convergence speed and control accuracy surpass traditional decoupled design methods, validating the strategy’s effectiveness and practical engineering potential.

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  • 收稿日期:2025-12-18
  • 最后修改日期:2026-04-03
  • 录用日期:2026-04-05
  • 在线发布日期: 2026-04-14
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