This paper investigates the switching-like event-triggered control for networked control systems (NCSs) under the malicious denial of service (DoS) attacks. First, by dividing the DoS attacks into S-interval (DoS-free case) and D-interval (DoS case), a switching-like event-triggered communication scheme (SETC) is well designed to deal with intermittent DoS attacks to improve communication efficiency while keeping the desired control performance. Secondly, by considering the SETC and NCSs into a unified framework, the studied system is transferred into a time-delay system. Then, under the constraint of the number of maximum allowable data dropouts induced by DoS attacks, a stability criterion and a stabilization criterion are derived, which can be used to estimate the event-triggered communication parameters and obtain the security controller gain simultaneously. Moreover, the derived stabilization criterion can also provide a trade-off to balance communication efficiency and H_inf control performance. At last, a networked invert pendulum on a cart is conducted to show the effectiveness of the proposed method.

Sensor and actuator attacks, which propagate the injected false data through CAN bus, make real threats to the security of the control of autonomous vehicles. This paper attempts to solve the secure event-triggered path following control problem of autonomous vehicles subject to both sensor and actuator attacks. Firstly, a more general physical security model is established to characterize the impacts of sensor and actuator attacks on measurements and control actions. Then, feedback linearization method based on Lie derivative is exploited to linearize the established nonlinear attacked model. Thus, the nonlinear path following control is transformed into a linear case which will facilitate to the following networked-based analysis and design. Based on the established secure model, the event-triggered control scheme is utilized to alleviate communication burden under sampled-data control framework. Furthermore, the sliding control design is augmented to mitigate the malicious impacts caused by such false data injection attacks due to its inherent robustness to abnormal attack signal. Remarkably, the proposed secure sliding control can be plugged into the original control scheme rather than changing its existing control structure. Criteria for formal stability analysis and controller design are also provided and expressed in terms of some numerically tractable linear matrix inequalities. Finally, both simulation and experimental verification cases are shown to verify the composite control scheme.

This article investigates a comprehensive data-driven event-triggered secure lateral control of autonomous vehicles under actuator attacks. We consider stabilization issues of autonomous vehicles subject to modeling difficulties, limited communication resources, and actuator attacks. The dynamic model decomposition (DMD) from data is exploited to characterize the inherent lateral dynamics model of autonomous vehicles, the event-triggered transmission scheme is utilized to alleviate communication burden for limited bandwidth network, and the sliding mode control scheme is designed to ensure the security of autonomous vehicles under actuator attacks. The stability analysis and the stabilization method as well as its algorithm are presented. The proposed secure control scheme can actively counteract the malicious effects caused by actuator attacks and integrates the advantages of both data-driven modeling and model-based control design. Finally, several comparative case studies show the effectiveness of the proposed secure control scheme.

This paper is concerned with the event-triggered adaptive security control (ET-ASC) for the path following of networked unmanned ground vehicles (UGVs) subject to sensor attacks. Firstly, a security model is well established to capture the dynamics of path following control of UGVs under sensor attacks. Then, the ET-ASC with respect to correction signal is proposed to mitigate the effects of such sensor attacks. In what follows, two theorems, which include both input to state stability (ISS) criterion and controller design method, are carefully derived for the path following control of UGVs under the proposed ET-ASC scheme. The advantage of the proposed ET-ASC scheme lies in that it can actively amend the sensor attacks in an adaptive way and exclude Zeno phenomenon naturally. At last, a verification simulation experiment are conducted to show the effectiveness of the proposed ET-ASC method.

Event-triggered control addresses a communication resource constraint challenge for networked control systems (NCS) but it is vulnerable to denial of service (DoS) attacks. This paper is concerned with the secure event-triggered control problem for NCSs under DoS attacks. The novelty lies in the development of a novel threshold-dependent event-triggered transmission scheme and a co-design approach for the event-triggered scheme and the desired secure controller. First, two threshold concepts, namely the critical event-triggered threshold (CETT) and the secure event-triggered threshold (SETT), are proposed for the event-triggered scheme. More specifically, the CETT is defined by the maximum allowable event-triggered parameter which can guarantee stability of the NCS and the SETT is used to ensure timely transmissions when the NCS subject to DoS-resulted packet dropouts. Second, by virtue of the input delay approach, a comprehensive closed-loop system model is derived for the NCS, which accommodates simultaneously the event-based sporadic transmissions, packet delays, and DoS-resulted packet dropouts. Third, a co-design algorithm is presented to determine both the desired threshold parameter and secure state- and output-feedback secure controllers. Finally, numerical simulations on a CAN-based vehicle lateral control system are provided to demonstrate the efficacy of the proposed control method.