  This paper addresses the problem of achieving secure consensus in a vehicular
platoon using event-triggered control. The platoon consists of a leader and
multiple follower vehicles exchanging their position and velocity information
discretely to maintain stability. The paper focuses on the issue of gain
modification attacks, where a malicious actor attempts to alter the controller
gains to destabilize the platoon. To tackle this problem, the paper proposes a
resilient event-triggered control scheme that ensures secure consensus while
considering constraints on the duration and frequency of attacks. The paper
also introduces an attack mitigation strategy through a topology-switching
procedure, which is employed when the attack frequency and duration constraints
are not met. First, sufficient consensus conditions for distributed static and
dynamic event-triggered control schemes are derived under sequential gain
modification attacks. The impact of the system matrices and triggering
parameters on the attack constraints is also discussed. Second, the paper
derives conditions to broaden the range of controller gain stability using the
Schur stability criterion to mitigate attacks and maintain platoon stability.
Finally, the effectiveness of the proposed methodology is demonstrated through
simulation scenarios in various case studies.
