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...

Full description

Saved in:

Bibliographic Details
Published in:	IEEE transactions on vehicular technology Vol. 74; no. 9; pp. 13606 - 13617
Main Authors:	Wu, Xiangjun, Zong, Guangdeng, Wang, Huanqing, Niu, Ben, Zhao, Xudong
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.09.2025 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	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
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!

Abstract	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.
AbstractList	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.
Author	Wu, Xiangjun Wang, Huanqing Niu, Ben Zhao, Xudong Zong, Guangdeng
Author_xml	– sequence: 1 givenname: Xiangjun orcidid: 0009-0003-8804-0874 surname: Wu fullname: Wu, Xiangjun email: wuxiangjun2000@163.com organization: College of Control Science and Engineering, Bohai University, Jinzhou, China – sequence: 2 givenname: Guangdeng orcidid: 0000-0001-6498-5580 surname: Zong fullname: Zong, Guangdeng email: lovelyletian@gmail.com organization: School of Control Science and Engineering, Tiangong University, Tianjin, China – sequence: 3 givenname: Huanqing orcidid: 0000-0001-5712-9356 surname: Wang fullname: Wang, Huanqing email: ndwhq@163.com organization: College of Mathematical Science, Bohai University, Jinzhou, China – sequence: 4 givenname: Ben orcidid: 0000-0002-3680-5594 surname: Niu fullname: Niu, Ben email: niubensdnu@163.com organization: Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian, China – sequence: 5 givenname: Xudong orcidid: 0000-0002-1864-4686 surname: Zhao fullname: Zhao, Xudong email: xdzhaohit@gmail.com organization: College of Control Science and Engineering, Bohai University, Jinzhou, China
BookMark	eNp9kU9rGzEQxUVJoU7aew89CHpeV39Wu6ujceo2ECjUdq6LVjsCuWvJlWYD_S79sJXjHEoOOQ0zvN8bZt41uQoxACEfOVtyzvSX3cNuKZhQS6ka1Qn2hiy4lrrSUukrsmCMd5VWtXpHrnM-lLauNV-Qv-s4TT77GKpNAqC3PmPyw4ww0tVoTugfgf6E7CcPAekmpqPBoqbrGDDFibqY6D6MkIzF2Zyx_fYh0-08HMAixUjvAkI6esSzwepJVZiNmSfM1ISR3kLwZqqiq7aQHr0FukI09ld-T946M2X48FxvyH7zdbf-Xt3_-Ha3Xt1XVugaq9ZxaZzpTKeV1m05TLDBSdsqN0hl6oartgYpmHJGD2UGth1FY8VgbdvoTt6QzxffU4q_Z8jYH-KcQlnZS6GE5EwqVVTsorIp5pzA9afkjyb96Tnrzxn0JYP-nEH_nEFBmheI9fj0P0zGT6-Bny6gB4D_9uiOybaV_wA805kI
CODEN	ITVTAB
CitedBy_id	crossref_primary_10_1080_1536383X_2025_2553699 crossref_primary_10_1080_03081079_2025_2540300 crossref_primary_10_1080_15397734_2025_2555424 crossref_primary_10_1016_j_jcou_2025_103150 crossref_primary_10_1007_s10586_025_05650_0 crossref_primary_10_1016_j_jfranklin_2025_107761 crossref_primary_10_1038_s41598_025_15240_0 crossref_primary_10_1080_00207721_2025_2530186 crossref_primary_10_1155_cplx_3963497 crossref_primary_10_1007_s10904_025_03943_w
Cites_doi	10.1109/TFUZZ.2023.3327140 10.1109/TNNLS.2022.3223666 10.1109/tcns.2024.3373132 10.1109/TII.2018.2839739 10.1109/TVT.2019.2948153 10.1109/TVT.2023.3262673 10.1109/TITS.2023.3250402 10.1016/j.ins.2024.121782 10.1109/TIV.2024.3358351 10.1631/FITEE.2300408 10.1109/TFUZZ.2020.3028657 10.1109/TVT.2022.3184305 10.1016/S0005-1098(04)00224-9 10.1016/j.automatica.2016.01.064 10.1109/TCYB.2024.3456821 10.1109/TVT.2022.3167038 10.1109/tac.2003.816963 10.1109/TIE.2017.2782229 10.1109/TIE.2019.2931242 10.1109/tase.2024.3464580 10.1109/TITS.2021.3066461 10.1016/j.apor.2021.102736 10.1109/TNNLS.2022.3164881 10.1109/TFUZZ.2022.3165629 10.1109/TIV.2023.3335467 10.1016/j.ins.2024.121619 10.1109/TAC.2017.2680602 10.1109/TIV.2023.3332866 10.1109/TVT.2020.3039220 10.1109/TCSI.2020.3033803 10.1109/TVT.2024.3420451 10.1109/TVT.2022.3204949 10.1016/j.isatra.2019.04.035 10.1109/TIV.2023.3338486
ContentType	Journal Article
Copyright	Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2025
Copyright_xml	– notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2025
DBID	97E RIA RIE AAYXX CITATION 7SP 8FD FR3 KR7 L7M
DOI	10.1109/TVT.2025.3565820
DatabaseName	IEEE All-Society Periodicals Package (ASPP) 2005–Present IEEE All-Society Periodicals Package (ASPP) Online IEEE Xplore Digital Library CrossRef Electronics & Communications Abstracts Technology Research Database Engineering Research Database Civil Engineering Abstracts Advanced Technologies Database with Aerospace
DatabaseTitle	CrossRef Civil Engineering Abstracts Engineering Research Database Technology Research Database Advanced Technologies Database with Aerospace Electronics & Communications Abstracts
DatabaseTitleList	Civil Engineering Abstracts
Database_xml	– sequence: 1 dbid: RIE name: IEEE Xplore Digital Library url: https://ieeexplore.ieee.org/ sourceTypes: Publisher
DeliveryMethod	fulltext_linktorsrc
Discipline	Engineering
EISSN	1939-9359
EndPage	13617
ExternalDocumentID	10_1109_TVT_2025_3565820 10980377
Genre	orig-research
GrantInformation_xml	– fundername: National Natural Science Foundation of China grantid: 62203064 funderid: 10.13039/501100001809
GroupedDBID	-~X .DC 0R~ 29I 3EH 4.4 5GY 5VS 6IK 97E AAIKC AAJGR AAMNW AASAJ AAWTH ABAZT ABQJQ ABVLG ACGFO ACGFS ACIWK ACNCT AENEX AETIX AGQYO AGSQL AHBIQ AI. AIBXA AKJIK AKQYR ALLEH ALMA_UNASSIGNED_HOLDINGS ASUFR ATWAV BEFXN BFFAM BGNUA BKEBE BPEOZ CS3 DU5 EBS EJD HZ~ H~9 IAAWW IBMZZ ICLAB IFIPE IFJZH IPLJI JAVBF LAI M43 MS~ O9- OCL P2P RIA RIE RNS RXW TAE TN5 VH1 AAYXX CITATION 7SP 8FD FR3 KR7 L7M
ID	FETCH-LOGICAL-c294t-7f13afa8a89599744920bf3c75fb35a461574e3205fa9bfb3ec7d26c2bcc76983
IEDL.DBID	RIE
ISICitedReferencesCount	21
ISICitedReferencesURI	http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=001577082900022&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN	0018-9545
IngestDate	Sat Nov 22 13:40:52 EST 2025 Sat Nov 29 07:27:02 EST 2025 Tue Nov 18 20:52:06 EST 2025 Wed Oct 01 07:05:09 EDT 2025
IsPeerReviewed	true
IsScholarly	true
Issue	9
Language	English
License	https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html https://doi.org/10.15223/policy-029 https://doi.org/10.15223/policy-037
LinkModel	DirectLink
MergedId	FETCHMERGED-LOGICAL-c294t-7f13afa8a89599744920bf3c75fb35a461574e3205fa9bfb3ec7d26c2bcc76983
Notes	ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14
ORCID	0000-0002-3680-5594 0009-0003-8804-0874 0000-0001-5712-9356 0000-0002-1864-4686 0000-0001-6498-5580
PQID	3252310355
PQPubID	85454
PageCount	12
ParticipantIDs	crossref_primary_10_1109_TVT_2025_3565820 crossref_citationtrail_10_1109_TVT_2025_3565820 ieee_primary_10980377 proquest_journals_3252310355
PublicationCentury	2000
PublicationDate	2025-09-01
PublicationDateYYYYMMDD	2025-09-01
PublicationDate_xml	– month: 09 year: 2025 text: 2025-09-01 day: 01
PublicationDecade	2020
PublicationPlace	New York
PublicationPlace_xml	– name: New York
PublicationTitle	IEEE transactions on vehicular technology
PublicationTitleAbbrev	TVT
PublicationYear	2025
Publisher	IEEE The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher_xml	– name: IEEE – name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
References	ref13 ref12 ref34 ref15 ref14 ref31 ref30 ref11 ref33 ref10 ref32 ref2 ref1 ref17 ref16 ref19 ref18 ref24 ref23 ref26 ref25 ref20 ref22 ref21 ref28 ref27 ref29 ref8 ref7 ref9 ref4 ref3 ref6 ref5
References_xml	– ident: ref22 doi: 10.1109/TFUZZ.2023.3327140 – ident: ref6 doi: 10.1109/TNNLS.2022.3223666 – ident: ref12 doi: 10.1109/tcns.2024.3373132 – ident: ref34 doi: 10.1109/TII.2018.2839739 – ident: ref2 doi: 10.1109/TVT.2019.2948153 – ident: ref24 doi: 10.1109/TVT.2023.3262673 – ident: ref18 doi: 10.1109/TITS.2023.3250402 – ident: ref30 doi: 10.1016/j.ins.2024.121782 – ident: ref13 doi: 10.1109/TIV.2024.3358351 – ident: ref31 doi: 10.1631/FITEE.2300408 – ident: ref20 doi: 10.1109/TFUZZ.2020.3028657 – ident: ref7 doi: 10.1109/TVT.2022.3184305 – ident: ref4 doi: 10.1016/S0005-1098(04)00224-9 – ident: ref9 doi: 10.1016/j.automatica.2016.01.064 – ident: ref19 doi: 10.1109/TCYB.2024.3456821 – ident: ref26 doi: 10.1109/TVT.2022.3167038 – ident: ref3 doi: 10.1109/tac.2003.816963 – ident: ref23 doi: 10.1109/TIE.2017.2782229 – ident: ref10 doi: 10.1109/TIE.2019.2931242 – ident: ref16 doi: 10.1109/tase.2024.3464580 – ident: ref27 doi: 10.1109/TITS.2021.3066461 – ident: ref15 doi: 10.1016/j.apor.2021.102736 – ident: ref21 doi: 10.1109/TNNLS.2022.3164881 – ident: ref32 doi: 10.1109/TFUZZ.2022.3165629 – ident: ref5 doi: 10.1109/TIV.2023.3335467 – ident: ref29 doi: 10.1016/j.ins.2024.121619 – ident: ref33 doi: 10.1109/TAC.2017.2680602 – ident: ref28 doi: 10.1109/TIV.2023.3332866 – ident: ref8 doi: 10.1109/TVT.2020.3039220 – ident: ref11 doi: 10.1109/TCSI.2020.3033803 – ident: ref17 doi: 10.1109/TVT.2024.3420451 – ident: ref1 doi: 10.1109/TVT.2022.3204949 – ident: ref14 doi: 10.1016/j.isatra.2019.04.035 – ident: ref25 doi: 10.1109/TIV.2023.3338486
SSID	ssj0014491
Score	2.5776672
Snippet	This paper investigates a collision-free distributed fuzzy adaptive resilient formation control scheme for underactuated unmanned surface vehicles (USVs) with...
SourceID	proquest crossref ieee
SourceType	Aggregation Database Enrichment Source Index Database Publisher
StartPage	13606
SubjectTerms	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
Title	Collision-Free Distributed Adaptive Resilient Formation Control for Underactuated USVs Subject to Intermittent Actuator Faults and Denial-of-Service Attacks
URI	https://ieeexplore.ieee.org/document/10980377 https://www.proquest.com/docview/3252310355
Volume	74
WOSCitedRecordID	wos001577082900022&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText	1
inHoldings	1
isFullTextHit
isPrint
journalDatabaseRights	– providerCode: PRVIEE databaseName: IEEE Xplore Digital Library customDbUrl: eissn: 1939-9359 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0014491 issn: 0018-9545 databaseCode: RIE dateStart: 19670101 isFulltext: true titleUrlDefault: https://ieeexplore.ieee.org/ providerName: IEEE
link	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3NS-QwFA8qHvSgu-riqLvksJc9RNsmmTTHQbfsYZFFR_FW0nzAwDgj04x_jX-s76UdGRAXvJWSlxbeR355ye89Qn7CEpHbJpSsyYaegYUYcCnpGHdZGZTAfrepuv5fdX1dPjzofz1ZPXFhvPfp8pk_x8d0lu_mdompMvBwXWZcqU2yqZTqyFpvRwZC9O3xcvBgwAWrM8lMX4zvx7ATLOQ5B_hSYmvvtTUoNVV5F4nT8lLtf_LHvpC9HkfSUaf4r2TDzw7I7lp1wUPygkmBRB1n1cJ7eoU1crG9lXd05MwTBjp649vJFDmRtFrRGOlld32dAp6lqS-SQZYJit3d3rcUYg0mb2ic05RPfJzEiBOM0iiQqcxyGltqZo5e4V2-KZsH1gclOooRaf1H5K76Pb78w_pmDMwWWkSmQs5NMKUptdSwCRG6yJrArZKh4dIIQEZKeF5kMhjdwDtvlSuGtmisVUNd8m9kazaf-WNCc2u5hUgBdmCEyGwDqNMVwakcPiCNHJCLlXpq21cqx4YZ0zrtWDJdg0JrVGjdK3RAfr1JPHVVOv4z9ggVuDau092AnK1MoO79uK15IREAAyg7-UDslOzg7N21szOyFRdL_51s2-c4aRc_kom-Anpz5gk
linkProvider	IEEE
linkToHtml	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1LbxMxELagIAEHnkUECvjAhYPbXT_i9TFqWRURIgRp1dvK64cUKU2qrMOv4ccy491UkRBI3FYrz3qlefjz2N8MIR9giShdGyvWFuPAwEIsuJTyTPiiilpiv9tcXX-qZ7Pq6sp8G8jqmQsTQsiXz8IxPuazfL92W0yVgYebqhBa3yX3lJS87Olat4cGUg4N8krwYUAGu1PJwpzML-ewF-TqWACAqbC5994qlNuq_BGL8wJTP_nPX3tKHg9Ikk561T8jd8LqOXm0V1_wBfmFaYFMHmf1JgR6hlVyscFV8HTi7Q2GOvo9dIslsiJpvSMy0tP-AjsFREtzZySLPBMUu_hx2VGINpi-oWlNc0bxepESfmCSR4FMbbfL1FG78vQMb_Mt2TqyISzRSUpI7D8kF_Wn-ek5G9oxMMeNTEzHUthoK1sZZWAbIg0v2iicVrEVykrARloGwQsVrWnhXXDa87HjrXN6bCrxkhys1qvwitDSOeEgVoAlWCkL1wLu9Dx6XcIEyqoROdmpp3FDrXJsmbFs8p6lMA0otEGFNoNCR-TjrcRNX6fjH2MPUYF743rdjcjRzgSawZO7RnCFEBhg2eu_iL0nD87nX6fN9PPsyxvyEGfqL6EdkYO02Ya35L77mRbd5l0219-SJOlQ
openUrl	ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Collision-Free+Distributed+Adaptive+Resilient+Formation+Control+for+Underactuated+USVs+Subject+to+Intermittent+Actuator+Faults+and+Denial-of-Service+Attacks&rft.jtitle=IEEE+transactions+on+vehicular+technology&rft.au=Wu%2C+Xiangjun&rft.au=Zong%2C+Guangdeng&rft.au=Wang%2C+Huanqing&rft.au=Niu%2C+Ben&rft.date=2025-09-01&rft.pub=The+Institute+of+Electrical+and+Electronics+Engineers%2C+Inc.+%28IEEE%29&rft.issn=0018-9545&rft.eissn=1939-9359&rft.volume=74&rft.issue=11&rft.spage=13606&rft.epage=13617&rft_id=info:doi/10.1109%2FTVT.2025.3565820&rft.externalDBID=NO_FULL_TEXT
thumbnail_l	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0018-9545&client=summon
thumbnail_m	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0018-9545&client=summon
thumbnail_s	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0018-9545&client=summon