Fault-tolerant control of underactuated MSVs based on neural finite-time disturbance observer: An Event-triggered Mechanism

Meng, Xiangfei; Zhang, Guichen; Han, Bing

doi:10.1016/j.jfranklin.2024.01.004

Cited by 9 publications

(1 citation statement)

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“…The FTDO designed in this paper simplifies the design and implementation process of the DO by omitting the integral term. This simplification reduces the computational burden of the system compared to [13][20] [22]. In addition, we added an additional time-varying gain term to avoid the post-phase phenomenon caused by the integral term in [13] [20][22] and improve the system's response speed to disturbances.…”

Section: Introductionmentioning

confidence: 99%

Underactuated Surface Vessels Trajectory Tracking Control Based on Concise Finite-Time Disturbance Observer Under False Data Injection Attacks

Sun

2024

IEEE Access

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This paper studies the trajectory tracking control problem of underactuated surface vessels (USVs) under false data injection attacks (FDIAs). We propose a concise nonlinear finite-time disturbance observer (FTDO) to compensate composite disturbances caused by FDIAs and external disturbances. An online approximator is designed using adaptive techniques to compensate for the dynamic uncertainties of the system. In addition, we consider the limit of input saturation at the control input. Under the framework of the backstepping method, this paper designs a practical finite-time control (FTC) method and performs a rigorous theoretical analysis of it through the Lyapunov stability theory. Finally, the effectiveness of the proposed control scheme was verified through simulation. This research provides a feasible solution to the trajectory tracking problem of underactuated vessels in FDIAs attack environment and provides theoretical support for further research in related fields.

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