Resilient Adaptive Control with Application to Vehicle Cruise Control
نویسندگان
چکیده
Abstract. This work address the general problem of resilient control of unknown stochastic linear time-invariant (LTI) systems in the presence of sensor attacks. Motivated by a vehicle cruise control application, this work considers a first order system with multiple measurements, of which a bounded subset may be corrupted. A frequency-domain-designed resilient adaptive controller is introduced that simultaneously minimizes the effect of corrupted sensors, while maintaining a desired closed-loop performance, invariant to unknown model parameters. Simulated results illustrate that the resilient parameter-invariant controller is capable of stabilizing unknown state disturbances and can perform state trajectory tracking with a lag.
منابع مشابه
Resilient Parameter-Invariant Control With Application to Vehicle Cruise Control
This work addresses the general problem of resilient control of unknown stochastic linear time-invariant (LTI) systems in the presence of sensor attacks. Motivated by a vehicle cruise control application, this work considers a first order system with multiple measurements, of which a bounded subset may be corrupted. A frequency-domain-designed resilient parameter-invariant controller is introdu...
متن کاملImproving the velocity tracking of cruise control system by using adaptive methods
Accurate and correct performance of controller in cruise control systems is important. Hence, in such systems, controller should optimize itself against noise and probable changes in system dynamic. As a matter of fact, in this article three approaches have been conducted to-ward this purpose: MIT, direct estimation and indirect estimation. These approaches are used as controllers to track refe...
متن کاملAdaptive Cruise Control - Towards a Safer Driving Experience
There is perhaps no better symbol of the 21st century than the automobile. It is the dominant means of transport aspired to throughout the world; indeed, many a politician throughout this century has furthered his or her career by promising constituents a greater economic ability to own an automobile. Furthermore, there are more automobiles on the road than any other motorized vehicle. As of 19...
متن کاملVelocity tracking of cruise control system by using feedback linearization method
In cruise control systems, the performance of the controller is important. Hence, in order to have accurate results, the nonlinear behavior of a vehicle model should also be considered. In this article, a vehicle with a nonlinear model is controlled by using a nonlinear method. The nonlinear term of the model is the generated torque of engine, which is a polynomial equation. In addition, feedba...
متن کاملDistributed Fault Detection and Estimation for Cooperative Adaptive Cruise Control System in a Platoon
Wireless vehicle to vehicle communication in a vehicle platoon is proposed in intelligent transportation systems to increase safety of the transportation system and assist drivers for improved decision making. However, similar to any networked system, cooperative connected vehicles in a platoon are vulnerable to malfunction due to failures in network communication. In addition to the possible d...
متن کامل