Robust control design for nonlinear cyber-physical systems: application to the U-turn in autonomous vehicles

This paper addresses the problem of constrained control of a class of nonlinear cyber-physical systems (CPSs) when they subject to both the physical uncertainty and cyber interference. CPS is a class of complex systems that integrate cyber and physical components, which may be subject to both cyber interference and physical uncertainty during operation. In order to guarantee the safety and stability of CPS, firstly, a nonlinear CPS dynamic model that considers both physical uncertainty and cyber interference is established. Secondly, a new control design method for controlled systems with cyber interference and physical uncertainty is proposed. This control method ensures that the controlled system can meet the expected constraints while there is cyber interference and physical uncertainty. Finally, by utilizing Lyapunov theory, the stability analysis of the CPS is performed to prove the uniform boundedness and uniform ultimate boundedness of the system. The effectiveness and superiority of the proposed control method is demonstrated through simulation comparison with the sliding mode control (SMC) method in the driving scenario of an autonomous vehicle.