Detection of replay attacks in autonomous vehicles using a bank of QPV observers

This paper addresses the problem of replay attack detection in autonomous vehicles. Due to the strong presence of nonlinearities, traditional approaches based on linear approximations of the dynamics would not work effectively. For this reason, the proposed approach is based on a bank of quadratic parameter varying (QPV) observers, designed in such a way that each observer is insensitive to a replay attack that affects one specific sensor channel. This feature allows the development of a decision algorithm, whose effectiveness is validated by means of simulation results.acceptedVersio

Estrategia de gestión de la energía en vehículos eléctricos con pila de combustible y sistema de almacenamiento híbrido utilizando control predictivo económico

En este trabajo se propone el control predictivo económico como técnica para la gestión energética óptima de un vehículo híbrido. Se describe el modelo utilizado para el control y a partir del mismo se diseña un controlador predictivo económico. Finalmente, se estudia el mejor ajuste de los pesos del controlador que consiga la mayor reducción del consumo de la pila de combustible con la ayuda de baterías y supercapacitores. Para ello se determinan los puntos de consumo máximo y mínimo de la pila de combustible, y se caracteriza el problema de control multiobjetivo mediante la determinación de las curvas de Pareto. El artículo concluye con una discusión de los resultados y los trabajos futuro

Optimal predictive control of water transport systems: Arrêt-Darré/Arros case study

This paper proposes the use of predictive optimal control as a suitable methodology to manage efficiently transport water networks. The predictive optimal controller is implemented using MPC control techniques. The Arrêt-Darré/Arros dam-river system located in the Southwest region of France is proposed as case study. A high-fidelity dynamic simulator based on the full Saint-Venant equations and able to reproduce this system is developed in MATLAB/SIMULINK to validate the performance of the developed predictive optimal control system. The control objective in the Arrêt-Darré/Arros dam-river system is to guarantee an ecological flow rate at a control point downstream of the Arrêt-Darré dam by controlling the outflow of this dam in spite of the unmeasured disturbances introduced by rainfalls incomings and farmer withdrawals

A Zonotopic-Based Watermarking Design to Detect Replay Attacks

This paper suggests the use of zonotopes for the design of watermark signals. The proposed approach exploits the recent analogy found between stochastic and zonotopic-based estimators to propose a deterministic counterpart to current approaches that study the replay attack in the context of stationary Gaussian processes. In this regard, the zonotopic analogous case where the control loop is closed based on the estimates of a zonotopic Kalman filter (ZKF) is analyzed. This formulation allows to propose a new performance metric that is related to the Frobenius norm of the prediction zonotope. Hence, the steady-state operation of the system can be related with the size of the minimal Robust Positive Invariant set of the estimation error. Furthermore, analogous expressions concerning the impact that a zonotopic/Gaussian watermark signal has on the system operation are derived. Finally, a novel zonotopically bounded water-mark signal that ensures the attack detection by causing the residual vector to exit the healthy residual set during the replay phase of the attack is introduced. The proposed approach is illustrated in simulation using a quadruple-tank process

Control Reconfiguration of Lateral ADAS Steering Control in the Presence of Driver Errors Using Combined Parity Space / LPV Approaches

International audienceThis paper proposes a lateral Advance Driver Assistance System (ADAS) steering controller that uses the detection of driver errors to reconfigure a Linear Parameter Varying (LPV) controller acting on the combined driver-vehicle lateral steering system. The detection of driver errors is proposed to be formulated as a Fault Detection problem using the Parity Space approach, and the computed residual signal then schedules the LPV /H∞ controller. The overall goal is to compute an ADAS controller that helps in stabilizing the vehicle when driver errors are detected while otherwise minimizing the level of intrusiveness. With this goal in mind, the proposed method was tested in simulation using a full dynamical model of a Renault Megane car and driver models, for simulation of the human steering action, during a critical scenario

An ensemble approach to estimate the fault-time instant

Since systems are prone to faults, fault detection and isolation are essential activities to be considered in safety-critical applications. In this direction, the availability of a sound estimate of the time instant the fault occurred is a precious information that a diagnosis system can fruitfully exploit, e.g., to identify information consistent with the faulty state. Unfortunately,any fault-detection system introduces a structural delay that,typically, increases in correspondence of subtle faults (e.g., those characterized by a small magnitude) with a consequence that the fault-occurrence time is overestimated. In this paper we propose an ensemble approach to estimate the time instant a fault occurred. We focus on systems that can be described as ARMA models and faults inducing an abrupt change in the model coefficients