Research On Path-following Control Of Autonomous Vehicles Under Cyber Attack

In recent years,the development of automobile technology has become more and more popular.Autonomous vehicles can not only avoid human errors,but also reduce air pollution,which has become a major development trend in the automobile industry.Among them,the realization of path-following control of autonomous vehicles is a very important task.However,due to the wide application of sensors,communication systems,actuators and other components,the complexity of vehicles is constantly enhanced,and the probability of network attacks is also increased.In view of this,this paper conducts a series of research and analysis on how to resist cyber attacks in the path-following control of autonomous vehicles.The main research contents of this paper are as follows:In the 2nd chapter,the path-following security control of autonomous vehicles under periodic Denial-of-Service(DoS)attacks is studied.Considering the periodic DoS attack model,a new model is established by using the switching system method combined with the state space form and controller model of the autonomous vehicle path-following system.The attack parameters dependent time-varying Lyapunov function method is used to analyze the exponential stability and H_∞performance of the system under periodic DoS attack,and the design criterion of resilient controller is given.Finally,the effectiveness and feasibility of the proposed control method are verified by numerical simulation examples.In the 3rd chapter,the path-following security control of autonomous vehicles under hybrid attack is studied.Considering the sensor false data injection(FDI)attack model and periodic DoS attack model,combined with the autonomous vehicle path-following system and controller model,a new system model was established by switching system method.The attack parameters dependent time-varying Lyapunov function method is used to design observers to perform coordinated estimation of system status and FDI attack signals.Then,the time-varying Lyapunov function method is used to analyze the exponential stability and H_∞performance of the system under hybrid attack,and the design criterion of state-feedback controller is proposed.Finally,the feasibility and effectiveness of the proposed method are verified by a simulation example.In the 4th chapter,the path-following security control of autonomous vehicles under aperiodic DoS attack and FDI attack is studied.Considering a time-contrained aperiodic DoS attack model.Combining the sensor FDI attack model,the controller model and the path-following system model of the autonomous vehicle,a new model is established by using the switching system method.Using the time-varying Lyapunov function method and linear matrix inequalities(LMIs)technology to solve the observer,the design method of state-feedback controller is proposed by analyzing the exponential stability and H_∞performance of the system under aperiodic DoS attacks and FDI attacks.Finally,the effectiveness and superiority of the proposed method are verified by simulation examples and comparison simulations.