Robust Control and Stabilization of Autonomous Vehicular Systems under Deception Attacks and Switching Signed Networks

This paper proposes a model-based control framework for vehicle platooning systems with second-order nonlinear dynamics operating over switching signed networks, time-varying delays, and deception attacks. The study includes two configurations: a leaderless structure using Finite-Time Non-Singular Terminal Bipartite Consensus (FNTBC) and Fixed-Time Bipartite Consensus (FXTBC), and a leader—follower structure ensuring structural balance and robustness against deceptive signals. In the leaderless model, a bipartite controller based on impulsive control theory, gauge transformation, and Markovian switching Lyapunov functions ensures mean-square stability and coordination under deception attacks and communication delays. The FNTBC achieves finite-time convergence depending on initial conditions, while the FXTBC guarantees fixed-time convergence independent of them, providing adaptability to different operating states. In the leader—follower case, a discontinuous impulsive control law synchronizes all followers with the leader despite deceptive attacks and switching topologies, maintaining robust coordination through nonlinear corrective mechanisms. To validate the approach, simulations are conducted on systems of five and seventeen vehicles in both leaderless and leader—follower configurations. The results demonstrate that the proposed framework achieves rapid consensus, strong robustness, and high resistance to deception attacks, offering a secure and scalable model-based control solution for modern vehicular communication networks.