Security Control of Autonomous Ground Vehicles Under DoS Attacks via a Novel Controller With the Switching Mechanism

This article focuses on the security tracking control problem of nonlinear autonomous ground vehicles (AGVs) under denial-of-service (DoS) attacks. In order to resist DoS attacks and other external disturbances, a new security control scheme is proposed. First, the Takagi–Sugeno (T-S) fuzzy system is established to represent the nonlinear AGV system under DoS attacks. In particular, in order to improve the flexibility of control and reduce the impact of DoS attacks on tracking control, a novel controller with a specific switching mechanism is designed. The switching mechanism relies on fuzzy membership functions, which can make better use of nonlinear vehicle speed information. Second, the sufficient conditions to ensure global exponential stability of the T-S fuzzy-based switched system are given by using the Lyapunov function method. Finally, the simulation platform built by Carsim and MATLAB/Simulink is used to verify the effectiveness of the proposed control scheme.