DOS-Robust Dynamic Speed Tracking Controller for an Integrated Motor-Gearbox Powertrain System of a Connected Car

This paper deals with the speed tracking control for a connected vehicle with an integrated motor transmission (IMT) powertrain system subject to a denial of service (DOS) attack. For a pure electric vehicle (PEV) with an IMT powertrain system, ensuring speed synchronization is a basic and important control requirement. Connected cars have considerable advantages. However, the in-vehicle controller area network (CAN) connected the external networks will bring network attack (e.g., DOS attack), which may greatly reduce the performance of the control system. To address these problems, a DOS-induced delay model and a dynamic output-feedback robust controller satisfying energy-to-peak performance is designed in this paper. The impact of a DOS attack on the control system is described by CAN message delays which are modeled by polytopic inclusions using Taylor series expansion. Then, a linear parameter varying (LPV) dynamic closed-loop control augmentation model in discrete-time frame considering time-varying delays is established. Furthermore, a dynamic output-feedback robust controller satisfying energy-to-peak performance is designed and the gains is calculated offline by solving a set of linear matrix inequalities (LMIs). Finally, the dynamic controller gains are used for the online step, and the speed tracking performance and oscillation damping capability of the proposed controller is demonstrated by some experiments and compared with a conventional PI controller which is the most widely used controller in engineering.