Adaptive event-triggered path following control for networked autonomous vehicles under aperiodic denial-of-service attacks

This paper studies the adaptive event-triggered (AET)-based path following control problem for networked autonomous vehicles subject to aperiodic denial-of-service (DoS) attacks. Firstly, considering the strong dependence between scheduling parameters, a polytopic linear parameter varying system is established to represent the nonlinear path following system. Secondly, to save limited communication bandwidth and guarantee a desired path following control performance effectively, a novel AET mechanism with nonmonotonic characteristics is designed, and a compensation strategy is presented to tackle the effect of packet losses caused by DoS attacks on the system. Thirdly, sufficient conditions are developed for the output feedback controller gain matrix and the AET mechanism weighting matrix such that the closed-loop system is guaranteed to be stable and an H-8 performance is satisfied. Finally, simulation results verify the proposed control strategy.