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This paper concentrates on the secure consensus control problem for a class of second-order connected vehicle systems (CVSs) in the presence of denial-of-service (DoS) attacks. First, the necessary and sufficient conditions for the consensus of CVSs are derived in the attack-free case. Second, in order to defend against DoS attacks, we design a novel secure consensus control protocol where resilient predictors are used to estimate the states of other vehicles during DoS attacks. Then, by using Lyapunov stability theory, matrix analysis tool, and algebraic graph theory, the convergence of CVSs with the resilient predictors against DoS attacks is achieved in the attack case. It is proved that under the designed secure consensus control protocol with resilient predictors, not only the prediction errors can be converged to a bounded range, but also the system errors can be converged. Finally, the effectiveness of the proposed novel secure consensus control protocol with resilient predictors is illustrated by some simulation results.

Secure Consensus Control for Connected Vehicle Systems with Resilient Predictors Against Denial-of-Service Attacks