Adaptive prescribed-time resilient fault-tolerant control for USV under actuator faults

This paper investigates the prescribed-time tracking control problem for the unmanned surface vessel (USV) with an unknown dynamics leader and affected by actuator faults and denial-of-service (DoS) attacks. First of all, an attack compensation mechanism is developed for the USV to model the attacked leader output signal. Then, to address the problem that unknown parameters contained in the leader dynamics cannot be handled in the controller design, a novel prescribed-time estimator is proposed to reconstruct the leader dynamics while ensuring that the estimation error can converge to the origin within the pre-given finite time. At the same time, by proposing a prescribed-time two-step design method, the influence of actuator faults can be smoothly eliminated. Further, an adaptive fuzzy prescribed-time resilient tracking controller is proposed using the backstepping technique to enable the USV to track the uncertain leader within the pre-given finite time. Finally, a comparison simulation is given to verify the validity of the designed control strategy.