Secure Path-Tracking Control of Autonomous Ground Vehicle Systems via A Real-Time Dynamic Integrated Scheduling Mechanism

Aiming at the path-tracking problem of autonomous ground vehicle systems (AGVSs) under randomly activated network attacks, this article proposes a real-time dynamic integrated scheduling (RT-DIS) mechanism. First, the uncertain vehicle–road dynamics model is described by the Takagi–Sugeno fuzzy model through the time-varying speed of the vehicle. Second, a class of switching gain-scheduling controller is designed based on the difference of the normalized fuzzy membership functions in the vertical dimension of time and two different horizontal dimensions, which is fully adapted to all potential system dynamics behaviors of AGVSs. At the same time, by designing the homogeneous polynomially parameter-dependent Lyapunov function, the mean-square exponential stability satisfying the premise of${H_\infty }$performance is derived in a unified analysis framework. Finally, the simulation results demonstrate that the proposed RT-DIS mechanism can effectively enhance the vehicle lane-keeping performance.