Communication Security of Autonomous Ground Vehicles Based on Networked Control Systems: The Optimized LMI Approach

Abstract

This study focuses on the networked control systems (NCSs) under Denial of Service (DoS) attacks with periodicity and attack intensity. A DoS attack with attack strength is studied, which has important research significance for establishing a suitable defense mechanism. First, the construction of appropriate Lyapunov-Krasovskii functionals (LKFs) can reduce the constraints of the basic conditions and help lower the criterion's conservatism. Then, the selection problem of the trigger threshold is transformed into an optimization problem with constraints, and the gradient descent algorithm (GDA) is used to select the trigger threshold to save sampling resources better. Next, an intelligent event-triggered controller (IETC) is designed to ensure the safe operation of the system under DoS attacks. Finally, the correctness of the method is verified through the experiment of the autonomous ground vehicle (AGV) system based on the Simulink platform.