Distributed active disturbance rejection control for Ackermann steering of a four-in-wheel motor drive vehicle with deception attacks on controller area networks

Abstract

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.