Fault data injection attack on car-following model and mitigation based on interval type-2 fuzzy logic controller

Abstract

Cyber defence mechanism is started with modelling the accurate car-following behaviour including cyber attack. The creation of finest models made the path of control action easier. The connection between the vehicles is mathematically formulated with the help of car-following behaviour, incorporating the derived acceleration function from the cruise control physical system. The modified car-following model is simulated as closed-loop control system to analyse its behaviour in terms of acceleration and distance. Fault data injection cyber attack is mathematically injected into the modified car-following model and simulated to analyse the impact of attack. Initially, the impact of fault data injection attack is detected and mitigated with the help of parallel proportional–integral–derivative controller and genetic algorithm tuned proportional–integral–derivative controller. Interval type-2 fuzzy proportional–integral–derivative controller is introduced to mitigate the cyber attack and to overcome the uncertainty. The integral square error and integral absolute error are used to compare the performance of the controllers. Inbuilt Wi-Fi connected car like mobile robots are used in real-time model. This model is designed and developed based on the Node MCU processors, real-time operating system, sensors and actuators.