Secure Path Following Control of Autonomous Vehicles Under Actuator Attacks Using Fuzzy Terminal Sliding Mode Control Approach

Abstract

Actuator attacks on the steering control actions of Autonomous Vehicles (AVs) will disrupt the control actions of path following, even lead to a serious traffic accident. In order to ensure the secure path following of AVs, a fuzzy-rule-based global fast terminal sliding mode control (FR-GFTSMC) approach is designed for mitigating the malicious actuator attacks imposed on the steering gear. Firstly, the global fast terminal sliding mode control scheme is utilized to counteract the effects caused by actuator attacks while guaranteeing to reach a steady state in a finite time of the regulated steering actions. Then, the attack-aware-based fuzzy rules are well exploited to improve the control performance by mitigating the chattering caused by switching of sliding controller. At last, Simulink-CarSim co-simulations are used to verify the effectiveness of the proposed secure steering control strategy.

Keywords

• Autonomous vehicles
• path following
• actuator attacks
• sliding mode control
• fuzzy rules