Code on Topology Switching Control Of CVP Under MITM Attack

The wireless communication used by vehicles in collaborative vehicle platoons (CVPs) is vulnerable to cyber-attacks, which threaten their safe operation. To address this issue, a safety preserving controller is presented. The proposed controller is based on topology-switching coalitional MPC, which utilises a RUIO to detect and isolate the cyber-attacks. Attacked communication links are then disabled to accommodate the attack. Furthermore, the MPC controller is designed to be resilient against undetected attacks and the uncertainty derived from disabling communication links. The uploaded code, illustrates the performance of the proposed scheme on a simulated CVP of four vehicles. <br> The code used to generate results presented in chapter 3 of the PhD dissertation of Twan Keijzer: Advances in Safety and Security of Cyber-Physical Systems - Sliding Mode Observers, Coalitional Control and Homomorphic Encryption