Data‐driven adaptive trajectory tracking control of unmanned marine vehicles under disturbances and DoS attacks

Abstract

AbstractThis article researches the problem of trajectory tracking for unmanned marine vehicles (UMVs) under disturbances and denial‐of‐services (DoS) attacks in the wireless channel. An equivalent data‐driven model of UMVs with ocean disturbances is established by using partial form dynamic linearization algorithm. The disturbances and the input of UMVs have different pseudo partitioned Jacobean matrix, and the disturbances are estimated by using extended state observer, which improves the immunity of UMVs to disturbances in the environment. It is the first time that the DoS attacks are considered under the data‐driven model for UMVs, and a novel data‐driven adaptive trajectory tracking control framework is constructed. The article proposes an attack predictive compensation mechanism to mitigate their effects of DoS attacks, which follows the Bernoulli distribution. Based on it, the data‐driven adaptive trajectory tracking controller is designed such that the error of trajectory tracking is convergent under DoS attacks and external disturbances. Finally, the effectiveness of the proposed data‐driven control scheme and the predictive compensation mechanism is validated through the simulations.