Journal of Guangxi Normal University(Natural Science Edition) ›› 2024, Vol. 42 ›› Issue (3): 59-69.doi: 10.16088/j.issn.1001-6600.2023052101

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Cyber-Physical Systems State Estimation and Actuator Attack Reconstruction of Intelligent Vehicles

CHEN Li, TANG Mingzhu, GUO Shenghui*   

  1. School of Electronic and Information Engineering, Suzhou University of Science and Technology, Suzhou Jiangsu 215009, China
  • Received:2023-05-21 Revised:2023-07-21 Published:2024-05-31

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Abstract: The problem of state estimation and attack signal reconstruction for cyber-physical systems of the nonlinear descriptor system type under network attack is investigated. Firstly, the descriptor system is transformed into a general system, and the intermediate variable observer is designed by reconstructing the attack signal with the intermediate variable. Then, sufficient conditions for the existence of the observer gain matrix are obtained by linear matrix inequalities. Finally, the feasibility of the method is verified by numerical simulation. In the simulation analysis, the lane-keeping system of the intelligent vehicle is modeled, and the vehicle dynamic model and the vehicle keeping model are transformed into the form of a dynamic system. From the perspective of cyber-physical systems, the problem of vehicle safety state estimation is studied. When the system contains network attacks, the proposed observer is used to estimate the state of the lane-keeping system. The results show that the designed intermediate variable observer can accurately estimate the system state and attack signal, and the error systems tend to be stable within 4 s.

Key words: cyber-physical systems, state estimation, intermediate variable observer, attack reconstruction, intelligent vehicle

CLC Number:  TP13
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