Distributed Resilient Super-Twisting Sliding Mode Control for Uncertain Heterogeneous Nonlinear CAVs Platoons Undergoing Bias Actuators Faults and Malicious Attacks

This article investigates the cooperative driving control problem for heterogeneous uncertain nonlinear Connected Autonomous Vehicles platoons, undergoing actuator faults and possible Vehicular Ad-hoc NETworks (VANETs) malicious attacks. By leveraging the Multi-Agent Systems (MASs) framework, a novel Linear Matrix Inequality (LMI)-based Super-Twisting Sliding Mode (STSM) strategy is designed to ensure the platoon resilience against the co-presence of unknown heterogeneous nonlinear vehicle dynamics, external environmental disturbances and bias faults/attacks, while avoiding, at the same time, chattering issues. The finite-time stability of the CAVs platoon is analytically proved and a proper stability margin, with respect the maximum variation of the different perturbations acting on CAVs platoon dynamics, is evaluated. A detailed simulation analysis, carried out via the high-fidelity Mixed Traffic Simulator (MiTRaS) co-simulation platform, confirms the efficiency of the proposed solution.