TY - GEN
T1 - Analysis and Design of Direct Yaw-Moment Control for Distributed Drive Electric Vehicles Considering Replay Attacks
AU - Cao, Wanke
AU - Shen, Xingfu
AU - Ling, Heping
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - In this paper, the lateral motion control problem of distributed drive electric vehicles (DDEVs) under the coupling effects of large random attack-induced delays is studied. The external interface assembled in intelligent connected vehicles (ICVs) makes the in-vehicle controller area network (CAN) more vulnerable to cyber-Attack, which negatively impact real-Time control performance and stability. Based on the notion of multi-hop loop delay, the delay composition of direct yaw-moment control (DYC) under replay attack is analyzed in detail and its upper bound formula is derived based on reasonable analysis. Furthermore, the polytopic inclusion technique based on Tylor series expansion is used to describe network uncertainty, and a delay-Tolerant linear quadratic regulator (LQR) method based on is adopted for robust tracking control. Finally, simulation results based on hardware-in-loop (HIL) experiment indicate that proposed analysis and control scheme can deal with the negative effects of replay attack and ensure reliable vehicle dynamics performance.
AB - In this paper, the lateral motion control problem of distributed drive electric vehicles (DDEVs) under the coupling effects of large random attack-induced delays is studied. The external interface assembled in intelligent connected vehicles (ICVs) makes the in-vehicle controller area network (CAN) more vulnerable to cyber-Attack, which negatively impact real-Time control performance and stability. Based on the notion of multi-hop loop delay, the delay composition of direct yaw-moment control (DYC) under replay attack is analyzed in detail and its upper bound formula is derived based on reasonable analysis. Furthermore, the polytopic inclusion technique based on Tylor series expansion is used to describe network uncertainty, and a delay-Tolerant linear quadratic regulator (LQR) method based on is adopted for robust tracking control. Finally, simulation results based on hardware-in-loop (HIL) experiment indicate that proposed analysis and control scheme can deal with the negative effects of replay attack and ensure reliable vehicle dynamics performance.
KW - Direct yaw-moment control (DYC)
KW - Distributed drive electric vehicles (DDEVs)
KW - Network-induced delays
KW - Replay attack
KW - based linear quadratic regulator
UR - http://www.scopus.com/inward/record.url?scp=85173615430&partnerID=8YFLogxK
U2 - 10.1109/ACIRS58671.2023.10240318
DO - 10.1109/ACIRS58671.2023.10240318
M3 - Conference contribution
AN - SCOPUS:85173615430
T3 - 2023 8th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2023
SP - 100
EP - 106
BT - 2023 8th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2023
Y2 - 7 July 2023 through 9 July 2023
ER -