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Distributed active disturbance rejection control for Ackermann steering of a four-in-wheel motor drive vehicle with deception attacks on controller area networks
Information Sciences ( IF 8.1 ) Pub Date : 2020-06-30 , DOI: 10.1016/j.ins.2020.06.012
Zifan Gao , Dawei Zhang , Shuqian Zhu , Jun-e Feng

This paper investigates the network-based modeling and distributed active disturbance rejection control (ADRC) to address the Ackermann steering problem of a four-in-wheel motor drive electric vehicle with deception attacks on controller area networks (CAN). The distributed ADRC can achieve the independent steering, ensure a small steering radius and improve the stability and robustness of the vehicle under unknown tyre longitudinal forces and network attacks. Using an independent driving strategy and Ackermann steering geometry, a state-space model for rotational velocity tracking of each wheel is established, where a virtual external disturbance that consists of the tyre longitudinal force and the expected rotational velocity is imposed on the model. Considering the effect of deception attacks on measurement outputs, sampled-data-driven extended state observers are designed to estimate the tracking error and the external disturbance. To capture the interactions among four wheels, a distributed controller based on ADRC is proposed and the resulting system is formulated as a stochastic linear system with input delay and composite disturbance, where the composite disturbance is composed of false signals, a discretized disturbance error and the derivative of the longitudinal forces. A lemma is obtained to prove the discretized disturbance error to be energy-limited. Some stochastic stability conditions with H performance are derived by constructing a new discontinuous augmented Lyapunov–Krasovskii functional, and a design algorithm of the observer gain and the controller gain is presented. The effectiveness of the results is exemplified by two examples.



中文翻译:

分布式主动干扰抑制控制,用于四轮电动汽车的Ackermann转向,对控制器局域网进行欺骗攻击

本文研究了基于网络的建模和分布式主动干扰抑制控制(ADRC),以解决四轮电动机驱动的电动汽车的Ackermann转向问题,该控制器对控制器局域网(CAN)具有欺骗性攻击。分布式ADRC可以实现独立转向,确保较小的转向半径,并在未知的轮胎纵向力和网络攻击下提高车辆的稳定性和鲁棒性。使用独立的驾驶策略和Ackermann转向几何结构,建立了一个用于跟踪每个车轮转速的状态空间模型,在该模型中,将由轮胎纵向力和预期转速组成的虚拟外部扰动施加到该模型上。考虑到欺骗攻击对测量输出的影响,采样数据驱动的扩展状态观测器旨在估计跟踪误差和外部干扰。为了捕获四个车轮之间的相互作用,提出了一种基于ADRC的分布式控制器,并将得到的系统公式化为具有输入延迟和复合扰动的随机线性系统,其中复合扰动由虚假信号,离散扰动误差和纵向力的导数。获得一个引理以证明离散扰动误差是能量受限的。一些随机稳定条件 提出了一种基于ADRC的分布式控制器,并将得到的系统公式化为具有输入时滞和复合扰动的随机线性系统,该复合扰动由虚假信号,离散扰动误差和纵向力的导数组成。获得一个引理以证明离散扰动误差是能量受限的。一些随机稳定条件 提出了一种基于ADRC的分布式控制器,并将得到的系统公式化为具有输入时滞和复合扰动的随机线性系统,该复合扰动由虚假信号,离散扰动误差和纵向力的导数组成。获得一个引理以证明离散扰动误差是能量受限的。一些随机稳定条件H通过构造新的不连续增强Lyapunov-Krasovskii函数来导出性能,并提出了观察者增益和控制器增益的设计算法。结果的有效性通过两个例子来说明。

更新日期:2020-06-30
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