| With the development of information science and technology,chemical industry,power electronics,transportation and other practical processes are undergoing tremendous changes.These industries have high technical difficulties,large scale equipment and more complex production processes.Modeling a process using first principles or recognition becomes more difficult.Therefore,it is necessary to realize the control of complex systems under the condition of insufficient or even no model information,while the traditional model-based control theory and method may be not suitable for this kind of situation.It has become an urgent task to develop the data-driven control theory with lower dependence on model information for these complex processes.As a kind of data-driven control method,the model-free adaptive control has attracted more and more scholars’ attentions in recent years and has achieved fruitful research results.It provides a theoretical framework for the control algorithm design and stability analysis.Moreover,with the rapid increasing of the number of vehicles,a series of problems inevitably arise,such as traffic jams,energy shortages and threats to road safety.The coordination control technology is an effective method to solve traffic safety problems.But the vehicle control is a complex process,and how to use the control method in the vehicle system to ensure the safety and normal operation of road traffic will be a severe challenge.As one kind of the intelligent transportation methods to coordinate the vehicle operation process,the vehicle platoon system has a broad prospect in improving the vehicle safety and road capacity,and has been widely concerned.During the operation of the vehicle platoon,it may face many internal and external challenges,such as network attack risks brought by the communication network,faults of vehicle physical and electronic components,complexity and uncertainty of the model caused by the complex structure of the vehicle and many other factors.These problems will threaten the normal operation of the vehicle platoon system,and even threaten the system security.Therefore,we consider the data driven security control algorithm and vehicle platoon position and velocity tracking control under network attacks or sensor faults in this paper.Based on the dynamic linearization technology and the attack compensation mechanism,the data-driven security tracking control can be realized.The detailed research content of this paper is as follows:(1)The data-driven vehicle platoon control under random denial of service(Do S)is considered.A data-driven vehicle platoon control algorithm is proposed for the nonlinear vehicle systems to realize the synchronous tracking of the position and the velocity.In order to deal with the problem of the random Do S attacks on communication networks,a new resilient model-free adaptive platoon control framework is established with the introduced compensation algorithm.It can reduce the impact of attacks on the system and ensure the boundness of the tracking errors of the vehicle platoon.Finally,a simulation example is given to illustrate the effectiveness of the designed algorithm.(2)The data-driven control of the vehicle platoon system under aperiodic Do S attacks and sensor faults is studied.With consideration of the sensor fault and the sensor-to-controller channel suffering from aperiodic Do S attacks,the data-driven control of the nonlinear vehicle platoon system is studied and a fault-tolerant model-free adaptive control framework is established.Under the designed control framework,the stability analysis of the system is derived by using the switching proof method,and the feasibility of the proposed algorithm is illustrated by simulation.(3)The observer-based data-driven attack compensation algorithm is investigated.For unknown nonlinear systems subject to aperiodic Do S attacks,an observer is designed and a new attack compensation mechanism is proposed on the basis of the observer.Further,the resilient data-driven controller is designed with the attack compensation.The proposed algorithm can eliminate not only the conservative limitations about the sign of PPD parameters in traditional model-free adaptive control algorithms but also the assumption about the boundness of the attack compensation signal.Finally,a simulation example is given to illustrate the effectiveness of the proposed control algorithm. |
