$L_{2}$ -Gain-Based Path Following Control for Autonomous Vehicles Under Time-Constrained DoS Attacks

Autonomous vehicles (AVs) are being enhanced by introducing wireless communication to improve their intelligence, reliability and efficiency. Despite all of these distinct advantages, the open wireless communication links and connectivity make the AVs’ vulnerability to cyber-attacks. This paper proposes an
$L_{2}$
-gain-based resilient path following control strategy for AVs under time-constrained denial-of-service (DoS) attacks and external interference. A switching-like path following control model of AVs is first built in the presence of DoS attacks, which is characterized by the lower and upper bounds of the sleeping period and active period of the DoS attacker. Then, the exponential stability and
$L_{2}$
-gain performance of the resulting switched system are analyzed by using a time-varying Lyapunov function method. On the basis of the obtained analysis results,
$L_{2}$
-gain-based resilient controllers are designed to achieve an acceptable path-following performance despite the presence of such DoS attacks. Finally, the effectiveness of the proposed
$L_{2}$
-gain-based resilient path following control method is confirmed by the simulation results obtained for the considered AVs model with different DoS attack parameters.