摘要
针对多重网络攻击影响下网联车辆(CV)的控制问题,提出了一种变结构积分滑模控制方法。首先,建立了一种新的同时考虑多重网络攻击的CV模型,在该模型基础上设计变结构观测器估计多重网络攻击影响下的CV状态,并利用李雅普诺夫方法实现了估计误差的渐近收敛。然后,提出了一种基于变结构观测器的积分滑模控制方法,通过求解线性矩阵不等式,证明了该方法能在有限时间内将系统状态轨迹驱动到所设计的滑模面上。最后,通过数值仿真验证了在不同情况下(急加速、频繁加减速和非零初始间距误差),所设计的控制器可以有效应对多重网络攻击带来的显著性影响,实现整个闭环系统的渐近稳定性、鲁棒性和队列稳定性。
A variable structure integral sliding mode control method is proposed for the control of networked vehicles(CV)under the influence of multiple network attacks.Firstly,a novel CV model considering multiple cyber-attacks is established.Based on this model,a variable structure observer is designed to estimate the CV state under the influence of multiple cyber-attacks,and the asymptotic convergence of the estimation error is realized by using the Lyapunov method.Then,an integral sliding mode control method based on variable structure observer is proposed.By solving linear matrix inequalities,it is proved that this method can drive the system state trajectory to the designed sliding surface in finite time.Finally,the numerical simulation verifies that the designed controller can effectively cope with the significant impact of multiple cyber-attacks under different conditions,including rapid acceleration,frequent acceleration and deceleration,and non-zero initial distance error,and achieve the asymptotic stability,robustness and string stability of the entire closed-loop system.
作者
郭相君
岳伟
邹存名
GUO Xiang-jun;YUE Wei;ZOU Cun-ming(College of Marine Electrical Engineering,Dalian Maritime University,Dalian 116026,China;Department of Public Security Management,Liaoning Police College,Dalian 116036,China)
出处
《控制工程》
CSCD
北大核心
2023年第4期753-764,共12页
Control Engineering of China
基金
国家自然科学基金资助项目(61304192)
大连市创新基金资助项目(2019J12GX040)
中央高校基本科研业务费专项资金资助项目(3132019355)
辽宁省教育厅重点基金资助项目(L2019001)。
关键词
多重网络攻击
变结构积分滑模控制
网联车辆
队列稳定性
Multiple cyber-attacks
variable structure integral sliding mode control
internet of connected vehicle
string stability
