Abstract
This paper deals with the speed synchronization control of a connected vehicle subject to a replay attack. A large number of replay attack signals are injected into controller area network (CAN) through external network, which greatly reduces the real-time control performance of a connected integrated motor-transmission (IMT) system. In order to ensure the performance of an IMT speed tracking system under large random message delays, a robust reset controller combined with a delay-robust speed synchronization controller satisfying energy-to-peak performance is designed in this paper. The uncertain impact caused by a replay attack is described by large random network delays which are modeled by polytopic inclusion. Then, a dynamic output-feedback controller considering the uncertainty caused by attack-delays is proposed for online speed tracking. Moreover, a robust reset controller is designed to obtain comparatively better transient response in the case of large attack-delays. In this control strategy, once the reset condition is triggered, the after-reset value calculated by linear matrix inequalities (LMIs) would replace the dynamic state vector. Finally, the effectiveness of the proposed controller is verified by comparing it with model predictive control (MPC), existing PD control considering delays and energy-to-peak robust control in terms of performance.
Highlights
W ITH the development of connected vehicles and the advancement of communication technologies, the connection through external communication networks and in-vehicle controller area network (CAN) provides drivers enjoyable driving environment and economical driving guidance [1]–[3]
The real CAN message delays under replay attacks are imitated by random time-varying delays produced by the network module
The random time-varying delays generated by a replay attack on in-vehicle CAN were modeled by polytopic inclusion using Taylor series expansion
Summary
W ITH the development of connected vehicles and the advancement of communication technologies, the connection through external communication networks and in-vehicle controller area network (CAN) provides drivers enjoyable driving environment and economical driving guidance [1]–[3]. Zhu et al proposed a robust IMT speed tracking controller and reduced powertrain oscillation caused by network-induced time-varying delays [34]. Based on the above consideration, a controller combing reset control and delay robust control techniques, referring to [34], is designed in this paper to ensure the speed tracking performance and oscillation damping capability under delays induced by a replay attack. A dynamic output-feedback robust controller satisfying energy-to-peak performance combined with a robust reset controller is designed to preserve the oscillation damping capability and improve the speed tracking capability of a connected car under a replay attack. The experiment results show that the overshoot and settling time of the proposed controller is 25.9% and 25.1% less than these performance indexes in [34] under step response test conditions from 7 km/h to 20 km/h under a replay attack with random time-varying delays up to 100 ms
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