Finite-time resilient sliding mode control of UMV systems with stochastic actuator failures and DoS attacks

Abstract

This paper is concerned with resilient sliding mode control (SMC) of an unmanned marine vehicle (UMV) system in a finite-time stability (FTS) framework, where the networks designed for communication between an UMV and a land-based control station are subject to denial-of-service (DoS) attacks and the actuators are affected by stochastic failures. First, a Takagi–Sugeno (T-S) fuzzy approach is proposed to model a nonlinear UMV, and the stochastic actuator failure phenomenon is modeled as a continuous Markov process. Then, a new resilient SMC method is proposed to ensure the FTS of the UMV system subject to DoS attacks of different intensities. In addition, a partitioning strategy is introduced to ensure that the reaching motion and sliding mode motion satisfy the conditions of FTS. Theoretical analysis shows that the obtained closed-loop system can achieve FTS performance. Finally, the devised control strategy is confirmed by a simulated UMV system.