Fuzzy sliding mode security control of autonomous unmanned vehicle actuator attacks

doi:10.3969/j.issn.1674-8484.2023.06.010

Abstract

Abstract:

A robust safety control design method based on fuzzy sliding mode variable structure was proposed to solve the path following control problem of autonomous unmanned vehicle (AUV) with actuator attacks. A state-space-based path following control model was established to characterize the dynamic behaviors of AUV. Using the invariance of sliding mode to the actuator attack signal, an integral sliding mode safety control strategy was designed, by selecting appropriate Lyapunov function candidate, the stability of AUV path following control and the gain of front wheel angle control under actuator attacks were derived. The adaptively adjustable switching term gain was designed by combining fuzzy control rules, MATLAB/Simulink and CarSim co-simulation platform were used to verify the effectiveness of the proposed control strategy. The results show that the maximum error of path following is reduced by 5.6% and 6.2%, the steering wheel angle is reduced by 73.9% and 75.4%, and the side slip is reduced by 249.9% and 213.9%, respectively comparing with the case that the vehicle speed is 72 km/h under single and double line-shifting conditions. This control strategy can increase the robustness of AUV path following process and ensure good path following performance.

Key words: autonomous unmanned vehicle(AUV), path following, actuator attacks, sliding mode control, fuzzy control

CLC Number:

TP273

SUN Hongtao, WANG Chen, ZHAO Qingtang, WANG Zhiwen. Fuzzy sliding mode security control of autonomous unmanned vehicle actuator attacks[J]. Journal of Automotive Safety and Energy, 2023, 14(6): 734-743.

Figures/Tables 11

References 20

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NB	NM	NS	ZO
[-2 -1.35)	[-1.35 -0.668)	[-0.668 0)	0
PS	PM	PB
(0 0.668]	(0.668 1.35]	(1.35 2]

NB	NM	NS	ZO
[-2 -1.35)	[-1.35 -0.668)	[-0.668 0)	0
PS	PM	PB
(0 0.668]	(0.668 1.35]	(1.35 2]

整车质量，m	1.270 t
纵向车速，v_x	72 km / ·h
质心到前轴距离，a	1.015 m
质心到后轴距离，b	1.895 m
前轮侧偏刚度，C_f	-110.300 kN / rad
后轮侧偏刚度，C_r	-84.988 kN / rad
方向盘转角传动比	17.6
转动惯量，I_z	1536.7 km·m²

整车质量，m	1.270 t
纵向车速，v_x	72 km / ·h
质心到前轴距离，a	1.015 m
质心到后轴距离，b	1.895 m
前轮侧偏刚度，C_f	-110.300 kN / rad
后轮侧偏刚度，C_r	-84.988 kN / rad
方向盘转角传动比	17.6
转动惯量，I_z	1536.7 km·m²