Self‐discipline predictive control of autonomous vehicles against denial of service attacks

Abstract

AbstractThis paper presents a novel (SPC) scheme for the path following of autonomous vehicles (AVs) subject to denial of service (DoS) attacks. First, by considering the energy constraints of DoS attacks, bounded but arbitrary packet dropouts is used to characterize the effects of DoS attacks. Then, a switched control system model is established to describe the path following control of AVs under DoS attacks. In what follows, the SPC scheme, which depends on the detection of packet dropout from actuator side, is developed to compensate the packet dropout while there are no feedback measurements available. The main advantage of the proposed SPC scheme is that the predictive control design only depends on the latest available measurement and not affected by external disturbance. This is important to the control of networked systems under DoS attacks. At last, the corresponding experiments on path following control of the AVs are carried out in order to verify the validity of theory results.