Secure Event-Triggered Distributed Cooperative Control of High-Speed Trains Under DoS Attacks

This paper is concerned with the secure event-triggered distributed cooperative longitudinal control problem of virtually coupled high-speed trains (VCHSTs) subject to DoS attacks. First, a DoS-aware dynamic event-triggered transmission mechanism (DETM) is proposed to reduce the frequency of train data transmissions over train-to-train (T2T) information flow channels. Via actively prolonging the inter-event times, the resilience of the developed DETM to DoS attacks can be greatly improved. Second, based on the intermittently arrived T2T data, a distributed event-based secure cooperative control protocol is proposed for each train in the convoy. Third, a sufficient condition is derived to guarantee the asymptotic stability of the train tracking error system under the prescribed H∞ performance. Furthermore, a co-design method for solving out the desired train controllers and the triggering conditions is developed. Finally, the efficacy of the derived theoretical results is verified through a case study of a realistic railway line.