Event-triggered robust adaptive control for unmanned surface vehicle in presence of deception attacks

This article focuses on a double layer virtual ship guidance-based adaptive event-triggered path-following control for unmanned surface vehicle under the unknown actuator gain and deception attacks. In the guidance unit, the adaptive virtual ship is developed to derive the smooth reference paths for the controlled objective. That can effectively remove the abrupt phenomenon of actuators. Associated with the double layer virtual ship guidance strategy, a robust adaptive control algorithm is proposed for the unmanned surface vehicle by fusing the event-triggered rule and the adaptive compensated technique. In the algorithm, the deception attacks caused by the communication channel were compensated by constructing the attack adaptive parameters. That is critical to improve the accuracy and stabilize of the closed-loop control system. Besides, the transmission burden from the controller to the actuator was reduced for merits of the input-based event-triggered mechanism. Finally, the theoretical stability was proofed by the Lyapunov theorem, and the well performance was obtained through numerical simulation in presence of the time-varying disturbances.