摘要
In this study, a robust 'H' network observer-based attack-tolerant path tracking control design is proposed for the autonomous ground vehicle (AGV) under the effect of external disturbance, measurement noise and actuator/sensor attack signals. At first, a more practical AGV system is applied to describe the interaction among the longitudinal speed, lateral speed and yaw rate. Based on Controller Area Network (CAN), the information of local AGV is transmitted to remote control center through wireless channel and then the control command can be calculated from remote control center. To avoid the corruption of actuator/sensor attack signal from insecure CAN, two novel smoothed signal models are introduced to describe these attack signals and are embedded with the AGV dynamics system as an augmented system. Subsequently these attack signals can be simultaneously estimated with the AGV system state by the conventional Luenberger-type observer of the augmented system. By using the estimated state and attack signals, a robust 'H' network observer-based attack-tolerant path tracking controller is constructed to attenuate the effect of unknown disturbance on the energy of path tracking error and eliminate the influence of attacks signals. With the help of convex Lyapunov function, the design conditions of robust 'H' network observer-based attack-tolerant path tracking control design for AGV are derived in terms of a set of nonlinear difference inequalities. To reduce the difficulties in solving these nonlinear difference inequalities, Takagi-Sugeno fuzzy interpolation method is applied to approximate the nonlinear AGV system and the design can be simplified to a set of LMIs, which can be easily solved via LMI TOOLBOX in MATLAB. A double lane change task of AGV in CAN is provided as a simulation example to illustrate the design procedure and validate the effectiveness of proposed design method in comparison with the conventional steering control method.