Time-varying formation control of multiple unmanned surface vessels with heterogeneous hydrodynamics subject to actuator attacks

Li, Lili; Tuo, Yulong; Li, Tieshan; Tong, Meijuan; Wang, Shasha

doi:10.1016/j.amc.2022.126987

Cited by 15 publications

(6 citation statements)

References 25 publications

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“…Compared to various existing attacks, i.e., state-dependent attacks [7], actuator attacks [8], denial-of-service (DoS) attacks [9], [10], deception attacks [11] and even hybrid attacks [12], [13], advanced USVs that configure computing and digital systems become more vulnerable and susceptible to a disruption of information transmission due to cyber-attacks and communication hardware or software flaws. Secure consensus tracking control, especially for networked leader-following multi-USVs requires continuous, non-disruptive, and precise information interaction between individual USVs, which inherently conflicts with the devastation of ideal communication topologies under cyber-attacks.…”

Section: Introductionmentioning

confidence: 99%

Defense and Tolerance Technique Against Attacks and Faults on Leader-Following Multi-USVs

Liu,

Xia,

Tian

et al. 2024

IEEE Trans. Intell. Transport. Syst.

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This study explores the leader-following consensus tracking control issue of multiple unmanned surface vehicles (multi-USVs) in the presence of malicious connectivity-mixed attacks in the cyber layer, and concurrent output channel noises, sensor/actuator faults, and wave-induced disturbances in the physical layer. Sensor/actuator faults are initially modeled with unified incipient and abrupt features. Additionally, connectivitymixed attacks are depicted using connectivity-paralyzed and connectivity-maintained topologies through nonoverlapping and switching iterations. The standardization and observer design in multi-USVs are incorporated to decouple the augmented dynamics and estimate unknown state, fault, and noise observations, and then a defense and fault-tolerant consensus tracking control approach is designed to accomplish the robustness to disturbances/noises, resilience to attacks, and tolerance to faults, simultaneously. The criteria for achieving leader-following exponential consensus tracking of multi-USVs with cyber-physical threats can be determined based on activation rate and attack frequency indicators. Comparative simulations outline the effectiveness and economy of the proposed defense and tolerance technique against sensor/actuator faults and cyber-attacks on multi-USVs.

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Section: Introductionmentioning

confidence: 99%

Defense and Tolerance Technique Against Attacks and Faults on Leader-Following Multi-USVs

Liu,

Xia,

Tian

et al. 2024

IEEE Trans. Intell. Transport. Syst.

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“…1,2 As a basic branch of formation control, the formation maneuver technique endows multiple USVs with the ability to alter their relative geometric pattern to execute missions in complex water terrains, such as passing through reef waters, narrow waterways, and avoiding obstacles. 3,4 Tremendous efforts have been made by researchers to realize the formation maneuver goal for multiple USVs, for example, time-varying formation methods, 5,6 cooperative path maneuver methods, [7][8][9] formation containment maneuver methods [10][11][12] and bearing-based formation control methods. 13,14 Generally speaking, the USV formation system often operates in dynamically changing ocean environments that are real-time sensed by onboard sensors.…”

Section: Introductionmentioning

confidence: 99%

“…Compared with existing results, the contributions of this work are summarized in follows A two‐layer AFM control scheme is constructively proposed for a fleet of USVs. Compared with USV formation maneuver methods proposed in References 5–14, the presented method is developed under the affine formation structure and can achieve any AFMs with respect to the nominal configuration. Different from the existing two‐layer AFM control scheme, 34 we develop a novel leader reference signal system to describe systems' AFM operations, which is regulated by virtual vessel velocity command and unrotated formation geometric command.…”

Section: Introductionmentioning

confidence: 99%

Two‐layer leader‐follower optimal affine formation maneuver control for networked unmanned surface vessels with input saturations

Zhou,

Huang,

et al. 2023

Intl J Robust & Nonlinear

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This article studies the two‐layer leader‐follower optimal affine formation maneuver (AFM) control problem for multiple unmanned surface vessels (USV). The basic idea of the developed two‐layer control framework is to realize the time‐varying formation for the leader group in advance, and then let the follower USVs agilely respond to the target formation affinely localized by leaders. To realize this goal, a time‐varying formation reference system is first synthesized to describe leaders' target formation in the affine map of the nominal configuration. The reference system is set up by virtual vessel velocity command and unrotated geometric command, which make it possesses an intuitive application structure for operators to plan AFM commands in real‐time sensed surrounding environments. Then, by means of optimized backstepping design and the adaptive dynamic programming technique, actor‐only reinforcement learning controllers are established for USVs in both two layers to realize the optimal target formation tracking objective. For the proposed optimal controllers, the persistent excitation condition that is required by common optimal control schemes is also removed, which endows the presented scheme with lower computational complexity. Finally, theoretical analysis and simulation results illustrate the closed‐loop stability and the effectiveness of the presented scheme.

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“…Similarly, in civilian fields, it can expand the scope of marine operations, improve operational efficiency, and complete complex tasks that cannot be achieved by a single ship, including coordinated search and rescue, coordinated reconnaissance, long-distance supply, maritime patrol, and coordinated transportation, among others. The formation problem is an important issue in the control of multi-USV systems [2][3][4], which requires USVs to maintain a certain relative spatial position while in motion. This plays an important role when USV clusters complete common tasks such as oil and gas exploration and maritime search and rescue [5].…”

Section: Introductionmentioning

confidence: 99%

“…As the algebraic connectivity would be decreased by adding a reverse edge to the stem structure, this property is utilized by this article to add a communication link to USV followers in order to reduce the algebraic connectivity, thereby making the follower formations more dispersed and more conducive to USV distributed security operations. (2) The changes in algebraic connectivity by adding different reverse links to the stemstructured communication topology of the USV follower cluster are analyzed in this article. A method for optimal addition of a reverse link is proposed based on the above rules, considering the appropriate algebraic connectivity of the communication topology, in order to optimize the problem of slower convergence rate caused by adding a reverse link to the stem structure.…”

Section: Introductionmentioning

confidence: 99%

Algebraic-Connectivity-Based Multi-USV Distributed Formation Method via Adding a Reverse Edge

et al. 2023

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This paper concerns the formation problem in multi-USV cluster formation containment tracking tasks with a special topology. A topology reconstruction method was proposed that enables the followers’ formation to be dispersed while achieving the fastest convergence rate for the system. This topology structure is based on tree topology and DAG (directed acyclic graph) local structure stem as prototypes, using the principle of adding reverse edges on the stem to reduce algebraic connectivity. By adding a reverse edge to obtain a more dispersed formation, a method for selecting appropriate reverse edges was achieved. Through relevant theoretical quantitative and qualitative analysis, it was demonstrated that adding this reverse edge can enable the system to achieve the fastest convergence rate. Finally, through simulation experiments, it was verified that the selected reverse edge can optimize the formation of followers and achieve the fastest convergence rate.

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Time-varying formation control of multiple unmanned surface vessels with heterogeneous hydrodynamics subject to actuator attacks

Cited by 15 publications

References 25 publications

Defense and Tolerance Technique Against Attacks and Faults on Leader-Following Multi-USVs

Defense and Tolerance Technique Against Attacks and Faults on Leader-Following Multi-USVs

Two‐layer leader‐follower optimal affine formation maneuver control for networked unmanned surface vessels with input saturations

Algebraic-Connectivity-Based Multi-USV Distributed Formation Method via Adding a Reverse Edge

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