Adaptive event-triggered path following control for networked autonomous vehicles under aperiodic denial-of-service attacks

Abstract

ABSTRACTThis paper studies the adaptive event-triggered (AET)-based path following control problem for networked autonomous vehicles subject to aperiodic denial-of-service (DoS) attacks. Firstly, considering the strong dependence between scheduling parameters, a polytopic linear parameter varying system is established to represent the nonlinear path following system. Secondly, to save limited communication bandwidth and guarantee a desired path following control performance effectively, a novel AET mechanism with nonmonotonic characteristics is designed, and a compensation strategy is presented to tackle the effect of packet losses caused by DoS attacks on the system. Thirdly, sufficient conditions are developed for the output feedback controller gain matrix and the AET mechanism weighting matrix such that the closed-loop system is guaranteed to be stable and an H∞ performance is satisfied. Finally, simulation results verify the proposed control strategy.KEYWORDS: Networked autonomous vehiclesLPV systemDoS attacksAET mechanism Disclosure statementNo potential conflict of interest was reported by the author(s).Additional informationFundingThis work was supported by the National Natural Science Foundation of China [grant numbers 62173029, 62273033] and the Fundamental Research Funds for the Central Universities China [grant number FRF-BD-19-002A].Notes on contributorsTengfei Zhang Tengfei Zhang received the B.S. degree from the College of Engineering, Qufu Normal University, Rizhao, China, in 2016, and the M.S. degree from the College of Electronic Information Engineering, Shandong University of Science and Technology, Qingdao, China, in 2019. He is currently pursuing the Ph.D. degree with the School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China. His current research interests include vehicle dynamics and control, path following control, and robust control.Heng Wang Heng Wang received the Bachelor's degree and the Ph.D. degree from the College of Information Science and Engineering at Northeastern University, P.R. China in 2003 and 2008, respectively. He is currently a Professor at School of Automation and Electrical Engineering, University of Science and Technology Beijing. He was a Research Scientist at Institute for Infocomm Research (I2R), A*STAR, Singapore from April 2014 to November 2015, and a Post-Doc Research Fellow at the Centre for Autonomous Systems, University of Technology, Sydney from July 2010 to July 2011, and a Lecturer at College of Electronic Information and Control Engineering, Beijing University of Technology, China from July 2008 to March 2014. His current research interests include mobile robots simultaneous localisation and mapping (SLAM) and autonomous vehicles.Weiwei Che Weiwei Che received the B.S.degree in mathematics and applied mathematics from Jinzhou Normal University, Jinzhou, China, in 2002, the M.S. degree in applied mathematics from Bohai University, Jinzhou, in 2005, and the Ph.D. degree in control engineering from Northeastern University, Shenyang, China, in 2008.She was a Postdoctoral Fellow with the IEEE Department, Nanyang Technological University, Singapore, from 2008 to 2009. She was a Research Associate with the Department of Mechanical Engineering, University of Hong Kong, Hong Kong, in 2015. She is currently a Professor with the Institute of System Science, Qingdao University, Qingdao, China. Her research interests include nonfragile control, quantisation control, as well as fault-tolerant control and their applications to NCSs, MASs, and CPSs design.Qing Li Qing Li received the B.S. degree from the North China University of Science and Technology, Tangshan, China, in 1993, and the Ph.D. degree in control theory and its applications from the University of Science and Technology Beijing, Beijing, China, in 2000. From February 2006 to February 2007, he was a Visiting Scholar with Ryerson University, Toronto, ON, Canada. He is cu