Observer-based decentralized fuzzy control for connected nonlinear vehicle systems

Abstract

This article analyzes the tracking control of a type of connected nonlinear vehicle system, where the problem of hacker attacks and external disturbance is considered. A decentralized fuzzy control method based on observer is constructed. Specifically, first of all, the mathematical model of an automobile system with disturbance and false data injection attacks is built, which is composed of a head vehicle and N following vehicles. Then, in order to obtain prior knowledge of disturbance and states, a disturbance estimator on fuzzy sliding mode technique is proposed and a state observer is designed. Thirdly, an observer-based decentralized secure control strategy via fuzzy and backstepping control technique is designed to achieve the tracking control. Furthermore, the boundness of closed-loop signals and existence of appropriate safety distance between vehicles are certificated by Lyapunov theory. Finally, the potential of presented approaches is simultaneously illustrated by a numerical simulation and a semi-physical simulation.