Intelligent Event-Based Fuzzy Dynamic Positioning Control of Nonlinear Unmanned Marine Vehicles Under DoS Attack

• Published in: IEEE transactions on cybernetics Vol. 52; no. 12; pp. 13486 - 13499
• Main Authors: Zhang, Dan, Ye, Zehua, Feng, Gang, Li, Hongyi
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.12.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Algorithms; Communications systems; Control methods; Control systems design; deny-of-service (DoS) attack; Dynamics; Fuzzy control; intelligent event-triggering; Liapunov functions; Linear matrix inequalities; Machine learning; Marine vehicles; Mathematical models; Nonlinear control; Nonlinear dynamical systems; nonlinear unmanned marine vehicle (UMV) system; Q-learning; Surges; Takagi–Sugeno fuzzy system (TSFS); Unmanned vehicles; Vehicle dynamics
• ISSN: 2168-2267; 2168-2275; 2168-2275
• DOI: 10.1109/TCYB.2021.3128170

This article addresses the dynamic positioning control problem of a nonlinear unmanned marine vehicle (UMV) system subject to network communication constraints and deny-of-service (DoS) attack, where the dynamics of UMV are described by a Takagi-Sugeno (T-S) fuzzy system (TSFS). In order to save limited communication resource, a new intelligent event-triggering mechanism is proposed, in which the event triggering threshold is optimized by a <inline-formula> <tex-math notation="LaTeX">Q </tex-math></inline-formula>-learning algorithm. Then, a switched system approach is proposed to deal with the aperiodic DoS attack occurring in the communication channels. With a proper piecewise Lyapunov function, some sufficient conditions for global exponential stability (GES) of the closed-loop nonlinear UMV system are derived, and the corresponding observer and controller gains are designed via solving a set of matrix inequalities. A benchmark nonlinear UMV system is adopted as an example in simulation, and the simulation results validate the effectiveness of the proposed control method.