H∞ Resilient Control for Trajectory Tracking of Cloud-based Connected Vehicle under Hybrid Cyber Attack

Cloud-based Intelligent Connected Vehicle (CICV) provide a new solution for realising autonomous driving. The openness of the wireless communication network between the vehicle and the cloud makes it vulnerable to cyber-attacks, and cyber-attacks intruding into the vehicle system tamper with or interrupt the original control signals, which poses a serious threat to the security of the vehicle's control. In order to avoid the degradation of trajectory tracking accuracy and driving stability of CICVs under hybrid cyber-attacks, this paper proposes an output feedback resilient control method. Firstly, the energy-constrained hybrid cyber-attack model and the error-constrained vehicle trajectory tracking control model are established, and the trajectory tracking closed-loop control system of CICV is constructed by combining the \(H\infty\) output feedback controller with the parameters to be determined. Secondly, the closed-loop trajectory tracking control system is analysed for stability based on the Lyapunov stability theory, and a quantitative stability evaluation index is proposed. Then, the linear matrix inequality (LMI) constraints for solving the \(H\infty\) output feedback controller are derived based on the results of the system stability analysis. Finally, the simulation is performed under typical conditions, and the results show that the designed controller can effectively maintain the stability of the vehicle and reduce the vehicle trajectory tracking error under the hybrid cyber-attacks.