Output-sensitive event-triggered path following control of autonomous ground vehicles under stochastic FDI attacks

This paper presents an output-sensitive event-triggered communication (ETC) scheme for the security path tracking control of autonomous ground vehicles (AGVs) while considering stochastic false data injection (FDI) attacks. In order to adjust the event-triggered threshold according to only available output measurements dynamically, a novel output-sensitive ETC scheme is proposed that can make better use of network resources when implementing path tracking control actions. Then, by considering a class of stochastic FDI attacks, the discrete sampled-data control model is transformed into time-delay system based on the available output measurements. By virtue of Lyapunov stability theory and linear matrix inequality techniques, sufficient criterions on both stability analysis and controller synthesis are well derived. At last, some simulation experiments demonstrate the validity of the proposed security control scheme.