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

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Abstract

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.

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The data that support the findings of this study are available from the corresponding author upon reasonable request.

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Acknowledgements

This work is financially supported by the National Natural Science Foundation of China (Grant Number: 52172352), Key Science and Technology Innovation Project of Shandong Province (Grant Number: 2019JZZY010913), 2025 Science and Technology Innovation Program of Ningbo (Grant Number: 2020Z026, 2020Z027, 2020Z028), Key Science and Technology Project of Guangxi Province (Grant Number: AA19254013) and Primary Research and Development Plan of Zhejiang Province (Grant Number: 2021C01140).

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Authors and Affiliations

  1. The School of Transportation Science and Engineering, Beihang University, Beijing, 100191, People’s Republic of China

    Xiang Li, Xiangyang Xu, Hui Zhang & Zhiyang Ju

  2. The School of Mechanical Engineering and Automation, Beihang University, Beijing, 100191, People’s Republic of China

    Lu Chen

  3. Ningbo Institute of Technology, Beihang University, Ningbo, 315832, People’s Republic of China

    Wei Guo

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  1. Xiang Li
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Correspondence to Lu Chen.

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Li, X., Xu, X., Chen, L. et al. Longitudinal speed tracking control for an electric connected vehicle with actuator saturation subject to a replay attack. Nonlinear Dyn 111, 1369–1383 (2023). https://doi.org/10.1007/s11071-022-07898-2

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