This study explores the leader-following consensus tracking control issue of multiple unmanned surface vehicles (multi-USVs) in the presence of malicious connectivity-mixed attacks in the cyber layer, and concurrent output channel noises, sensor/actuator faults, and wave-induced disturbances in the physical layer. Sensor/actuator faults are initially modeled with unified incipient and abrupt features. Additionally, connectivity-mixed attacks are depicted using connectivity-paralyzed and connectivity-maintained topologies through nonoverlapping and switching iterations. The standardization and observer design in multi-USVs are incorporated to decouple the augmented dynamics and estimate unknown state, fault, and noise observations, and then a defense and fault-tolerant consensus tracking control approach is designed to accomplish the robustness to disturbances/noises, resilience to attacks, and tolerance to faults, simultaneously. The criteria for achieving leader-following exponential consensus tracking of multi-USVs with cyber-physical threats can be determined based on activation rate and attack frequency indicators. Comparative simulations outline the effectiveness and economy of the proposed defense and tolerance technique against sensor/actuator faults and cyber-attacks on multi-USVs.


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    Title :

    Defense and Tolerance Technique Against Attacks and Faults on Leader-Following Multi-USVs


    Contributors:
    Liu, Chun (author) / Xia, Zhiwei (author) / Tian, Yongxiao (author) / Patton, Ron J. (author)


    Publication date :

    2024-06-01


    Size :

    2250243 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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