Resilient Sliding-Mode Cooperative Adaptive Cruise Control under FDI Attacks and Actuator Faults

Abstract

This paper presents a resilient cooperative adaptive cruise control (CACC) framework for a platoon of connected and autonomous vehicles (CAVs) in the presence of false data injection (FDI) attacks, actuator faults, and external disturbances. To mitigate these adverse effects, an observer-based control framework is proposed. The design incorporates a third-order sliding mode observer to estimate the lumped uncertainty arising from actuator faults and external disturbances, as well as an extended state observer to estimate FDI attacks and disturbances entering the error dynamics. The resulting estimates are incorporated into a compensation-based nonlinear control law to actively counteract FDI attacks and actuator faults in real time. Lyapunov-based stability analysis is provided, and MATLAB/Simulink simulation results demonstrate that the proposed approach maintains safe inter-vehicle spacing and stable platoon behavior under adverse operating conditions.