Research Article

Communication security of autonomous ground vehicles based on networked control systems: The optimized LMI approach

¹ Cyberspace Institute of Advanced Technology, Guangzhou University, Guangzhou, 510006, China
² School of Electronic Information and Electrical Engineering, Chengdu University, Sichuan, 610106, China
³ School of Information and Software Engineering, University of Electronic Science and Technology of China, Chengdu, 611731, China
⁴ School of Mathematics Sciences, University of Electronic Science and Technology of China, Chengdu, 611731, China
⁵ Faculty of Engineering and Information Technology, Australian AI Institute, University of Technology Sydney, Ultimo, NSW 2007, Australia

^* Corresponding authors (email: caixiao327327@163.com (Xiao Cai); skbs111@163.com (Kaibo Shi))

Received: 2 January 2023
Revised: 16 March 2023
Accepted: 19 June 2023

Abstract

The paper presents a study of networked control systems (NCSs) that are subjected to periodic denial-of-service (DoS) attacks of varying intensity. The use of appropriate Lyapunov–Krasovskii functionals (LKFs) help to reduce the constraints of the basic conditions and lower the conservatism of the criteria. An optimization problem with constraints is formulated to select the trigger threshold, which is solved using the gradient descent algorithm (GDA) to improve resource utilization. An intelligent secure event-triggered controller (ISETC) is designed to ensure the safe operation of the system under DoS attacks. The approach is validated through experiments with an autonomous ground vehicle (AGV) system based on the Simulink platform. The proposed method offers the potential for developing effective defense mechanisms against DoS attacks in NCSs.