Collision-Free Distributed Adaptive Resilient Formation Control for Underactuated USVs Subject to Intermittent Actuator Faults and Denial-of-Service Attacks

This paper investigates a collision-free distributed fuzzy adaptive resilient formation control scheme for underactuated unmanned surface vehicles (USVs) with unknown nonlinear dynamics under intermittent actuator faults and denial-of-service (DoS) attacks, where all network communication links betw...

Celý popis

Uložené v:
Podrobná bibliografia
Vydané v:IEEE transactions on vehicular technology Ročník 74; číslo 9; s. 13606 - 13617
Hlavní autori: Wu, Xiangjun, Zong, Guangdeng, Wang, Huanqing, Niu, Ben, Zhao, Xudong
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: New York IEEE 01.09.2025
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:
Accuracy
Actuators
Adaptive algorithms
Closed loops
Collision avoidance
Control algorithms
Control systems
Control theory
Denial of service attacks
denial-of-service (DoS) attacks
Denial-of-service attack
Derivatives
Dynamical systems
Fault tolerance
Faults
Feedback control
Formation control
Fuzzy logic
Fuzzy systems
Heuristic algorithms
intermittent actuator faults
Nonlinear dynamics
Potential fields
prescribedd performance
Steady-state
Surface vehicles
Tracking errors
Transient analysis
underactuate unmanned surface vehicles (USVs)
Underactuated surface vessels
Unmanned vehicles
ISSN:0018-9545, 1939-9359
On-line prístup:Získať plný text
Tagy: Pridať tag
Žiadne tagy, Buďte prvý, kto otaguje tento záznam!
Popis
Shrnutí:This paper investigates a collision-free distributed fuzzy adaptive resilient formation control scheme for underactuated unmanned surface vehicles (USVs) with unknown nonlinear dynamics under intermittent actuator faults and denial-of-service (DoS) attacks, where all network communication links between USVs are interrupted in attack active intervals simultaneously. First, fuzzy logic systems are used to approximate unknown nonlinear dynamics. Then, using an artificial potential field method, potential function with continuous partial derivative is designed and integrated into a resilient distributed formation estimator. A novel collision avoidance resilient distributed formation estimator is proposed to ensure the existence of the first-order derivative of estimator states and achieve collision-free between USVs. Meanwhile, a simple prescribed performance function is designed to ensure transient and steady-state formation performances of underactuated USVs. Subsequently, combining dynamic surface control and adaptive technology, an adaptive fault-tolerant control algorithm is proposed to deal with intermittent actuator faults. It is shown that the designed controller can steer formation tracking errors into a residual set of predefined accuracy within a preassigned settling time while avoiding collision between USVs, and ensure all signals in the closed-loop system are semi-globally uniformly ultimately bounded. Finally, a simulation example confirms the effectiveness of the presented theory and approach.
Bibliografia:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:0018-9545
1939-9359
DOI:10.1109/TVT.2025.3565820