Hierarchical Secure Steering Control of In-Wheel Motor Driven Electric Vehicle Under Cyber-Physical Constraints

Dear Editor, This letter presents a new secure hierarchical control strategy for steering tracking of in-wheel motor driven (IWMD) electric vehicle (EV) subject to limited network resources, hybrid cyber-attacks, model nonlinearities, actuator redundancy and airflow disturbance. A hierarchical control architecture is proposed specifically for solving the problems of nonlinear system modeling and actuator redundancy. By utilizing the advantages of fully actuated system (FAS) approach, a nonlinear virtual controller against airflow disturbance is constructed in upper layer system and an event-triggered nonlinear distributed controller is proposed in lower layer system under stochastic hybrid cyber-attacks. A case study of overtaking task is carried out to validate the FAS-based hierarchical control strategy.