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This paper investigates the co-design problem of the integrated event-triggering (IET) scheme and integral sliding mode control (ISMC) for the non-linear Internet of vehicles (IoVs) with communication constraints. The main goal is to improve the tracking performance and increase the bandwidth utilization of vehicular ad hoc networks (VANETs) with various external disturbances. First, a non-linear IoV dynamic model is established by considering the disturbance from the preceding vehicle, internal and external resistance, and uncertainty of the engine time constant. Second, an IET transmission mechanism based on both absolute and relative restriction conditions of sampled-data error is proposed to reduce unnecessary data transmissions among vehicles. Third, co-design IET mechanisms and ISMC controller based on estimated H∞ observer are designed, which can obtain the disturbance attenuation and asymptotic stability, and the result is complemented by additional conditions established for guaranteeing string stability. Finally, extensive simulations are conducted to verify the theoretical analysis and prove the effectiveness and superiority of the proposed method.

This paper concentrates on decentralized variable structure adaptive integral sliding mode control (ISMC) for connected vehicles (CV) against cyber-attacks. First of all, a novel vehicle leader-follower model is established by jointly considering the cyber-attacks which involve replay attack and DoS attack simultaneously. Secondly, a decentralized control scheme is designed on the basis of the variable structure observer and adaptive integral sliding mode technique. The Lyapunov-Razumikhin method is adopted such that the state estimation error of CV system is asymptotically converged to zero, which can overcome the replay attack, DoS attack, and measurement delays, then a corrective signal is designed for the deception attack to eliminate the influence of deception attack on the CV system. Furthermore, the robust asymptotic stability of CV system is guaranteed by exploiting the emerging technique of robust control for time-delay systems. Meanwhile, the string stability of CV is guaranteed, even under the condition of heterogeneous vehicles. Finally, extensive simulations are conducted to verify the theoretical analysis and demonstrate the effectiveness and superiority of the proposed method.

In this paper, the challenges associated with controlling the Internet of connected vehicle (IOCV) system and mitigating the limited network communication bandwidth under the threat of denial-of-service (DoS) and deception attacks are addressed. To tackle these challenges, we present a centralized third-order model that better aligns with the dynamics of vehicles and design a resilient adaptive event-triggered mechanism (AETM) that incorporates countermeasures against cyber-attacks. Based on this mechanism, we propose a security controller to ensure the security state of the IOCV system. Utilizing the Lyapunov theory, we rigorously prove that the system is ultimately uniformly bounded and string stable. The efficacy of the proposed method is validated through numerical simulations, which demonstrate its effectiveness in addressing the issues under consideration.

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