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.

In order to handle the uncertainty of a class of cyber-physical systems with external disturbances, an observer-assisted gain-scheduling tracking control scheme is proposed in this article. First, a covert-switching-based (CSB) attack mechanism is proposed from the attacker’s point of view for the first time to enhance the expected destructive power. The sensor-to-observer (STO) channel and the observer-to-controller (OTC) channel are subjected to mixed network attacks and deception attacks, respectively. Different from most existing attack models, the attack mechanism proposed in this article can dynamically select the channel where the attack occurs by changing the scheduling parameters. Therefore, greater system performance degradation can be expected. Second, corresponding to the proposed CSB attack mechanism, the controller and observer are designed from the defender’s perspective through the high-order multi-mode switching free-weighting matrix (HMSFM) mechanism to reduce the negative impact of the attacks. At the same time, many time-varying balance matrices (TVBMs) for various switching modes of system dynamics are proposed to reduce the conservatism of the designed controller and observer. Then, a sufficient condition for exponential stability is successfully established to guarantee the$H_{\infty }$performance of the augmented error system. Eventually, the dynamic adjustment ability of the CSB attack mechanism and the anti-attack performance of the HMSFM mechanism are demonstrated through experimental simulation and active suspension hardware-in-loop (HIL) tests, and the advancement of the proposed attack-defense mechanism is thus verified.

This article investigates the resilient security control problem of nonlinear network systems under randomly activated deception attacks and a two-phase data transfer mechanism (TP-DTM). Initially, in order to solve the problem of high conservatism caused by the one-order free-weighting matrix (OFM) method in previous research results, this study introduces a high-order multi-mode switching free-weighting matrix (HMSFM) mechanism to establish free-weighting matrix groups under various switching modes, At the same time, sometime-varying balance matrices (TVBMs) are proposed to cooperate with HMSFM to collect proprietary features about each switching mode. Furthermore, in the context of the system subjected to deception attacks, a TP-DTM employing adaptive event-triggered mechanism (AETM) and round robin (RR) protocol is proposed to alleviate the impact of limited communication resources. Then, considering the above factors, the asymptotic stability of the augmented fuzzy system can be guaranteed under the given sufficient criteria. Consequently, a numerical example and a tunnel diode circuit example are executed to verify the advancement of the developed results. Note to Practitioners—The motivation of this paper comes from the problem that nonlinear networked control systems are vulnerable to malicious network attacks in the actual environment. In particular, malicious attacks will bring security risks such as data tampering and functional damage to the actual communication circuit system, and many state variables cannot be directly monitored due to objective conditions or financial constraints. Based on this, this paper proposes a HMSFM-based co-design mechanism for nonlinear NCSs under malicious attacks. The improved co-design scheme can deal with some difficult-to-measure state variables through observer-assisted tracking control. The main difficulty of this paper is how to reduce the conservatism of resilient control design. The improved co-design scheme can be adjusted according to the dynamic characteristics of the system by combining with TVBMs, making the constraints more relaxed and the state estimation more accurate.

In this article, the security control problem of networked interval type-2 (IT-2) active suspension systems is investigated based on the multi-instantaneous fuzzy control mechanism. First, considering that the dynamic behavior of the suspension system is extremely nonlinear, a fuzzy suspension model is established according to IT-2 fuzzy rules to characterize its nonlinearity and uncertainty. Second, a multi-instantaneous fuzzy gain-scheduling control law is developed based on the normalized fuzzy weighted membership degrees (NFWMDs) of the current moment and the past moment, which is homogeneous polynomial parameter dependent. At the same time, by developing a new slack variable technique, more implicit algebraic properties of the NFWMDs can be mined, so as to reduce the conservatism of the design. Then, the exponential stability condition of the suspension system subjected to random activation network attacks is derived under the premise of satisfying the$H_{\infty }$performance index. Eventually, the performance of the proposed controller is evaluated by hardware-in-loop experiments.

In this paper, an observer-based gain-scheduling tracking control scheme is designed for cyber-physical active suspension systems (ASSs) with uncertainties and external disturbances. Firstly, a fuzzy suspension model is established based on interval type-2 (IT-2) fuzzy rules to capture the nonlinearity and uncertainty of ASSs. Then, considering that it is difficult to obtain the state information of the suspension system in the complex environment, a co-design method based on the high-order free-weighting gain-scheduling (HFG) control law is proposed. At the same time, a class of Lyapunov functions and slack variable techniques, which are homogeneous polynomial parameter-dependent, are designed to simplify the stability analysis of ASSs. Furthermore, under the premise of satisfying the$H_{\infty }$performance index, the exponential stability of the augmented error system under randomly activated network attacks is realized. Finally, the performance of the proposed control scheme is evaluated by numerical and hardware-in-loop (HIL) tests.

This article is focused on the problem of adaptive event-triggered-based security controller construction for nonlinear networked control systems under multiple network attacks, which are represented by interval type-2 fuzzy models. First, in an attempt to mitigate the communication load, an enhanced adaptive event-triggered mechanism is utilized for determining the signals' transmission order, which is capable of adjusting the threshold dynamically with the signals probabilistically subjected to occurring malicious attacks. In addition, the observer is constructed under unfathomable premise variables, and then the controller with imperfect matching membership functions is created based on the estimated states, which is homogenous polynomially parameter-dependent. Moreover, the observer-based controller is obtained for the asymptotic stability with an$H_{\infty }$performance index via the Lyapunov stability theory. Then, sufficient conditions for the appropriate observer and controller gain matrices are given based on the linear matrix inequality method. Subsequently, the reliability of the proposed observer-based security fuzzy control design approach is demonstrated by two numerical simulation examples.

Despite good performance in grasping irregular fragile objects, soft grippers exhibiting low stiffness, and carrying capacity lack multidirectional grasping ability in the case of inclination. To address this problem, we propose a novel rigid and soft coupling variable stiffness module that employs a folded plate mechanism (FPM) to provide rigid multidirectional loading and combines it with particle jamming to achieve local variable stiffness with the characteristics of a finger grasping structure. Hence, a variable stiffness multidirectional soft grasping robot is developed to realize soft grasping and multidirectional rigid loading. The bending and stiffness control of the variable stiffness soft gripper is realized by a double-layer pneumatic driving structure with the advantages of simple control and corresponding speed. Moreover, good self-recovery is achieved with the soft outer layer since the particles can quickly return to the initial state due to partitioning of the FPM. Finally, prototype experiments verify its strong adaptability and stable multidirectional grasping ability, and experimental results show that the maximum grasping weight in each direction can be increased by more than three times with the variable stiffness.