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外部干扰和随机DoS攻击下的网联车安全H 队列控制

宋秀兰 李洋阳 何德峰

宋秀兰, 李洋阳, 何德峰. 外部干扰和随机DoS攻击下的网联车安全H∞ 队列控制. 自动化学报, 2024, 50(2): 348−355 doi: 10.16383/j.aas.c230327
引用本文: 宋秀兰, 李洋阳, 何德峰. 外部干扰和随机DoS攻击下的网联车安全H 队列控制. 自动化学报, 2024, 50(2): 348−355 doi: 10.16383/j.aas.c230327
Song Xiu-Lan, Li Yang-Yang, He De-Feng. Secure H∞ platooning control for connected vehicles subject to external disturbance and random DoS attacks. Acta Automatica Sinica, 2024, 50(2): 348−355 doi: 10.16383/j.aas.c230327
Citation: Song Xiu-Lan, Li Yang-Yang, He De-Feng. Secure H platooning control for connected vehicles subject to external disturbance and random DoS attacks. Acta Automatica Sinica, 2024, 50(2): 348−355 doi: 10.16383/j.aas.c230327

外部干扰和随机DoS攻击下的网联车安全H 队列控制

doi: 10.16383/j.aas.c230327
基金项目: 国家自然科学基金(62273307), 浙江省公益性技术应用研究项目(LGF22F030013)资助
详细信息
    作者简介:

    宋秀兰:浙江工业大学信息工程学院副教授. 主要研究方向为多媒体无线通信, 网联车辆安全队列控制. 本文通信作者. E-mail: songxl2008@zjut.edu.cn

    李洋阳:浙江工业大学信息工程学院硕士研究生. 主要研究方向为车辆安全队列控制. E-mail: seanlee1122@163.com

    何德峰:浙江工业大学信息工程学院教授. 主要研究方向为智能预测控制, 多智能体分布式估计与协同控制和安全控制理论. E-mail: hdfzj@zjut.edu.cn

Secure H Platooning Control for Connected Vehicles Subject to External Disturbance and Random DoS Attacks

Funds: Supported by National Natural Science Foundation of China (62273307) and Project of Zhejiang Province Public Welfare Technology Application Research (LGF22F030013)
More Information
    Author Bio:

    SONG Xiu-Lan Associate professor at the College of Information Engineering, Zhejiang University of Technology. Her research interest covers multi-media wireless communication and secure platooning control for connected ve-hicles. Corresponding author of this paper

    LI Yang-Yang Master student at the College of Information Engineering, Zhejiang University of Technology. His main research interest is secure platooning control for vehicles

    HE De-Feng Professor at the College of Information Engineering, Zhejiang University of Technology. His research interest covers intelligent predictive control, multi-agent distributed estimation and collaborative control, and security control theory

  • 摘要: 针对网联车队列系统易受到干扰和拒绝服务(Denial of service, DoS)攻击问题, 提出一种外部干扰和随机DoS攻击作用下的网联车安全H队列控制方法. 首先, 采用马尔科夫随机过程, 将网联车随机DoS攻击特性建模为一个随机通信拓扑切换模型, 据此设计网联车安全队列控制协议. 然后, 采用线性矩阵不等式(Linear matrix inequality, LMI)技术计算安全队列控制器参数, 并应用Lyapunov-Krasovskii稳定性理论, 建立在外部扰动和随机DoS攻击下队列系统稳定性充分条件. 在此基础上, 分析得到该队列闭环系统的弦稳定性充分条件. 最后, 通过7辆车组成的队列系统对比仿真实验, 验证该方法的优越性.
  • 图  1  DoS攻击下的网联车队列示意图

    Fig.  1  A schematic of a connected vehicle platoon subject to DoS attacks

    图  2  DoS攻击造成的拓扑切换示意图

    Fig.  2  A schematic of topologies switching suffered from DoS attacks

    图  3  4种常见的通信拓扑示意图

    Fig.  3  Four common communication topology diagrams

    图  4  DoS攻击过程

    Fig.  4  Process of DoS attacks

    图  5  车辆速度曲线

    Fig.  5  Velocity profiles of vehicles

    图  6  车辆间距误差曲线

    Fig.  6  Spacing error profiles of vehicles

    表  1  仿真参数

    Table  1  The parameters of simulation

    参数数值参数数值
    $d_{des} \;({\rm{m} })$5.00$k_{p}$1.7391
    $l \;({\rm{s} })$1.00$k_{v}$3.3422
    $\tau_{i}\;({\rm{s}})$0.54$k_{a}$2.8996
    $\gamma$1.50c1.5200
    下载: 导出CSV

    表  2  不同强度的DoS攻击实验

    Table  2  Experiments of DoS attacks with different intensities

    组别攻击
    总时长(s)
    未受攻击
    拓扑率$\theta_{1}\;(\%)$
    本文
    方法
    文献[6]
    方法
    文献[9]
    方法
    实验11482.5$\surd$$\surd$$\surd$
    实验21877.5$\surd$$\times$$\surd$
    实验32272.5$\surd$$\times$$\times$
    实验42667.5$\times$$\times$$\times$
    下载: 导出CSV
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出版历程
  • 收稿日期:  2023-06-02
  • 录用日期:  2023-11-09
  • 网络出版日期:  2023-12-21
  • 刊出日期:  2024-02-26

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