Rate-Coded Secure Control for Heterogeneous Vehicle Platoon Based on Information Fusion Estimation
针对异构车辆队列的安全控制问题，提出一种基于历史数据和阈值判断的状态估计算法，并设计双重加密的速率编码隐私保护机制，结合非奇异滑模面实现预定时间稳定和队列稳定性。
This article focuses on the secure predefined-time sliding mode control problem for a third-order heterogeneous vehicle platoon. For the purpose of reducing the effect due to the sensor measurement deviation and relaxing the system conservatism, a state estimation algorithm is designed based on the historical data and threshold judgment. Furthermore, a rate-coded reversible privacy-preserving mechanism with dual encryption is proposed and applied to vehicle-to-vehicle communications, which can guarantee the protection of the critical system data and the realizability of the desired predefined-time convergence performance by utilizing the origin outputs. In order to avoid the singularity problem and enhance the resistance of the vehicle platoon to the external disturbance, a nonsingular sliding mode surface and a corresponding predefined-time controller are designed. Based on the predefined-time stability and the string stability theorems, the vehicle platoon can be proved to be a practical predefined-time stable (PPTS) and string stable. Finally, adequate validations of the third-order heterogeneous vehicle platoon demonstrate the fast convergence speed and good robustness of the proposed control scheme.