Collision-Free Distributed Adaptive Resilient Formation Control for Underactuated USVs Subject to Intermittent Actuator Faults and Denial-of-Service Attacks
Bohai University · Tiangong University · +2 more institutions
Abstract
This paper investigates a collision-free distributed fuzzy adaptive resilient formation control scheme for underactuated unmanned surface vehicles (USVs) with unknown nonlinear dynamics under intermittent actuator faults and denial-of-service (DoS) attacks, where all network communication links between USVs are interrupted in attack active intervals simultaneously. First, fuzzy logic systems are used to approximate unknown nonlinear dynamics. Then, using an artificial potential field method, potential function with continuous partial derivative is designed and integrated into a resilient distributed formation estimator. A novel collision avoidance resilient distributed formation estimator is proposed to ensure…
Citation impact
- FWCI
- 42.16
- Percentile
- 100%
- References
- 34
Authors
5Topics & keywords
- Denial-of-service attack
- Actuator
- Underactuation
- Computer science
- Collision
- Engineering
- Control theory (sociology)
- Distributed computing
- Climate action