Event-Triggered Fuzzy Security Path Following Control for Autonomous Ground Vehicles With Aperiodic DoS Attacks

In this paper, an event-triggered fuzzy security path following control problem is investigated for autonomous ground vehicles subject to aperiodic denial of service attacks. Firstly, a switched interval type-2 fuzzy model is established to depict the vehicle path following system, in which both the vehicle dynamic nonlinearities and the aperiodic denial of service attacks are well addressed. Secondly, to guarantee that the latest packets are sent out immediately at the end of the denial of service attacks, a novel attack-dependent event-triggered scheme is developed to improve the signal transmission efficiency and reduce the performance loss caused by denial of service attacks. Then, by constructing a piecewise Lyapunov function based on the average dwell time of the denial of service attacks, a security control method is proposed to guarantee the exponential stability and the path following performance of the switched fuzzy path following system. Finally, the superiority of the proposed control strategy is verified by experimental tests as compared with the current path following control methods.