Centralized and Decentralized Event-Triggered Consensus Control for Leader–Follower Connected Vehicle Systems

This paper investigates the consensus problem in leader–follower connected vehicle systems (CVSs) under deception attacks—including coordinated position, velocity, and acceleration attacks as well as delays and disturbances. Centralized and decentralized event-triggered control strategies are proposed, allowing follower actuators to update at nonuniform intervals while significantly reducing communication overhead. To further enhance resilience, a delayed controller is designed to mitigate the effects of disturbances. The decentralized strategy relies solely on locally available information, and a refined triggering function is developed that requires neither topology knowledge nor Laplacian eigenvalues, using only each follower’s own data and the most recent event instants of its neighbors. Consensus is guaranteed even when certain followers lack direct access to the leader. Lyapunov-based analysis establishes stability in the presence of measurement errors and adversarial deception attacks, and comprehensive simulations demonstrate the robustness and effectiveness of the proposed framework.