Longitudinal speed tracking control for an electric connected vehicle with actuator saturation subject to a replay attack

In this paper, a delay-tolerable and anti-windup control synthesis technique is proposed. Longitudinal speed tracking performed by an integrated electric drive (IED) system under the multi-domain constraints of network bandwidth and actuator saturation is investigated. Controller area network (CAN) connected to the Internet provide an interface for cyber attacks. In addition, the physical saturation characteristics of the electric drive motor sacrifice vehicle speed tracking performance. Based on above problems, a nominal controller satisfying energy-to-peak performance considering the attack-induced delays is designed. Then, an augmented closed-loop system is established including the nominal delay-tolerable controller and an anti-windup controller considering input saturation and random attack-induced delays. The delay-dependent uncertainty caused by attack-induced delay is expressed in the form of polytopes. Furthermore, the saturation nonlinearity is converted to sector-bounded uncertainty. Particle swarm optimization (PSO) algorithm is employed to find anti-windup controller matrices. Finally, the effectiveness and improvement of the proposed method based on MATLAB Simulink and hardware-in-the-loop (HiL) test platform are shown. The variation of speed tracking performance and oscillation damping capability under different attack energies is described.