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第30届中国控制与决策会议

作者： Cunwu Han Jing Yang Mengqi Li Lipu Wu Beijing Key Laboratory of Fieldbus Technology and Automation North China University of Technology

This paper addresses cruise control of heterogeneous connected human driven vehicle systems. Firstly, from the aspect of control theory, a new state space model of cruise control system is established, which includes time-varying delays caused by driver reaction delays, feedback delays and wireless vehicle-to-vehicle communication delays. Then, a robust cruise controller is designed based on the H control approach with linear matrix inequality（LMI）, and the stability of the closed-loop system is analyzed by using the Lyapunov-Krasovskii approach. Finally, the effectiveness of the proposed controller is verified through simulation.

关键词： Robust Control Cruise Control connected vehicle systems Time-Varying Delay

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Fuzzy Unknown Input Observer for Estimating Sensor and Actuator Cyber‑Attacks in Intelligent connected vehicles

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Automotive Innovation 2023年第2期6卷 164-175页

作者： Juntao Pan Anh‑Tu Nguyen Sujun Wang Huifan Deng Hui Zhang School of Electrical and Information Engineering North Minzu UniversityYinchuan 750021China UniversitéPolytechnique Hauts-de-France CNRSUMR 8201–LAMIH59313 ValenciennesFrance INSA Hauts-de-France 59313 ValenciennesFrance Department of vehicle Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China School of Transportation Science and Engineering Beihang UniversityBeijing 100191China

The detection and mitigation of cyber-attacks in connected vehicle systems(CVSs)are critical for ensuring the security of intelligent connected *** paper presents a solution to estimate sensor and actuator cyber-attacks in CVSs.A novel method is proposed that utilizes an augmented system representation technique and a nonlinear unknown input observer(UIO)to achieve asymptotic estimation of both CVS dynamics and *** nonlinear CVS dynamics is represented in a Takagi–Sugeno(TS)fuzzy form with nonlinear consequents,which allows for the effective use of the differential mean value theorem to handle unmeasured premise ***,via Lyapunov stability theory sufficient conditions are proposed,expressed in terms of linear matrix inequalities,to design TS fuzzy *** test scenarios are performed with high-fidelity Simulink-CarSim co-simulations to show the effectiveness of the proposed cyber-attack estimation method.

关键词： connected vehicle systems Cyber-attacks Unknown input observers vehicle dynamics estimation Takagi-Sugeno fuzzy models

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Autonomous Multi-vehicle Consensus for High-order systems

Autonomous Multi-vehicle Consensus for High-order Systems

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第36届中国控制会议

作者： Yonggui Liu Chunjie Zhai Huanli Gao The Key Laboratory of Autonomous systems and Network Control Ministry of Educationthe College of Automatic Science and EngineeringSouth China University of Technology

ISBN: (纸本)9781538629185

Multi-vehicle deployment can be formulated as a cooperation formation problem using the weighted consensus *** objectives are that make adjacent vehicles keep the constant spacing and all vehicles approach the common velocity and ***,it is preferred that vehicle platoon has fast convergence and strong robustness when disturbances *** achieve these goals,the third-order dynamics are established for vehicle platoon that are regarded as connected vehicle systems（CVSs） and distributed control protocols are designed to implement cooperation *** paper focuses on analysis of stability and stability margin for the *** sufficient and necessary conditions on stability of the CVSs are achieved using the algebraic graph theory and the Routh-Hurwitz stability *** the sufficient conditions,which are determined by the controller gains and the model parameter,but are independent on eigenvalues of the Laplacian matrix of the corresponding network topology,are *** characterize convergent speed of CVSs,the conditions on stability margin of CVSs are also *** are shown to verify validation of the results.

关键词： vehicle platoon consensus connected vehicle systems leader-following control cooperative control

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