Event-Triggered Adaptive Security Path Following Control for Unmanned Ground Vehicles Under Sensor Attacks

This paper is concerned with the event-triggered adaptive security control (ET-ASC) for the path following of networked unmanned ground vehicles (UGVs) subject to sensor attacks. Firstly, a security model is well established to capture the dynamics of path following control of UGVs under sensor attacks. Then, the ET-ASC with respect to correction signal is proposed to mitigate the effects of such sensor attacks. In what follows, two theorems, which include both input to state stability (ISS) criterion and controller design method, are carefully derived for the path following control of UGVs under the proposed ET-ASC scheme. The advantage of the proposed ET-ASC scheme lies in that it can actively amend the sensor attacks in an adaptive way and exclude Zeno phenomenon naturally. At last, a verification simulation experiment are conducted to show the effectiveness of the proposed ET-ASC method.