Integrated fault detection filter and fault-tolerant control for the unmanned surface vehicle with deception attacks

Author:

Jin Tianmeng1,Liu Chun1ORCID,Wang Xiaofan1,Ren Xiaoqiang1

Affiliation:

1. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China

Abstract

This article investigates the fault detection and fault-tolerant control problem for an unmanned surface vehicle exposed to wave-induced disturbances and actuator faults in the physical layer, and delays and deception attacks in the cyber layer. First, a comprehensive vehicle model that includes physical disturbances, faults, time-varying delays, and Bernoulli random variable–based deception attacks is established. Second, an integrated fault detection filter and fault-tolerant controller design are developed to simultaneously provide a high degree of sensitivity to actuator faults and robustness and stability against cyber-physical threats (disturbances, faults, delays, and attacks). Delays and deception attacks are assumed to occur on the channel from fault detection filter to fault-tolerant controller. Finally, the performance and advantages of the integrated fault detection filter and fault-tolerant controller method with the solvability of inequality matrices are evaluated via comparative simulations in the unmanned surface vehicle with both low and high forward speeds.

Funder

Shanghai Sailing Program

National Natural Science Foundation of China

Project of Science and Technology Commission of Shanghai Municipality

Publisher

SAGE Publications

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