Robust Reset Speed Synchronization Control for an Integrated Motor-Transmission Powertrain System of a Connected Vehicle Under a Replay Attack
Xiangyang Xu, Xiang Li, Peng Dong, Yue Liu, Hui Zhang
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.