Interval Type-2 Fuzzy Path Tracking Control for Autonomous Ground Vehicles Under Switched Triggered and Sensor Attacks

IF 7.9 1区工程技术 Q1 ENGINEERING, CIVIL

IEEE Transactions on Intelligent Transportation Systems Pub Date : 2024-09-10 DOI:10.1109/TITS.2024.3450182

Wenfeng Li;Zhengchao Xie;Pak Kin Wong;Xiang Zhang;Jian Zhao;Jing Zhao

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引用次数: 0

Abstract

This article focuses on the path tracking control problem for autonomous ground vehicles under switched triggered and sensor attacks. Firstly, an interval type-2 Takagi-Sugeno fuzzy model is established to effectively approximate the tire dynamic nonlinearities and varying velocity in the path tracking control system, in which the random deception attack encountered in the sensor is considered. Secondly, a novel switched triggered communication mechanism is presented to decrease the frequency of signal transmission and save the network resources. The switched triggered mechanism includes both the time-triggered mode and event-triggered mode, which obey a Bernoulli distribution. Then, based on a positive Lyapunov-Krasovskii functional and matrix inequalities, a set of conditions are developed for the path tracking controller design to achieve the asymptotic stability and performance requirements. Finally, experimental results are presented to evaluate and validate the performance of the proposed path tracking control method.

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开关触发和传感器攻击下自主地面飞行器的间隔型-2 模糊路径跟踪控制

本文主要研究自主地面车辆在切换触发和传感器攻击下的路径跟踪控制问题。首先，建立了区间 2 型 Takagi-Sugeno 模糊模型，以有效逼近路径跟踪控制系统中的轮胎动态非线性和速度变化，其中考虑了传感器中遇到的随机欺骗攻击。其次，提出了一种新颖的开关触发通信机制，以降低信号传输频率，节省网络资源。开关触发机制包括时间触发模式和事件触发模式，这两种模式都服从伯努利分布。然后，基于正 Lyapunov-Krasovskii 函数和矩阵不等式，为路径跟踪控制器的设计提出了一系列条件，以达到渐近稳定性和性能要求。最后，介绍了实验结果，以评估和验证所提路径跟踪控制方法的性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Transactions on Intelligent Transportation Systems 工程技术-工程：电子与电气

CiteScore

14.80

自引率

12.90%

发文量

1872

审稿时长

7.5 months

期刊介绍： The theoretical, experimental and operational aspects of electrical and electronics engineering and information technologies as applied to Intelligent Transportation Systems (ITS). Intelligent Transportation Systems are defined as those systems utilizing synergistic technologies and systems engineering concepts to develop and improve transportation systems of all kinds. The scope of this interdisciplinary activity includes the promotion, consolidation and coordination of ITS technical activities among IEEE entities, and providing a focus for cooperative activities, both internally and externally.