Fuzzy Finite-Time ${H_\infty }$ Hybrid-Triggered Dynamic Positioning Control of Nonlinear Unmanned Marine Vehicles Under Cyber-Attacks

This paper studies the fuzzy finite-time ${H_\infty }$ hybrid-triggered dynamic positioning (DP) control design issue of the nonlinear unmanned marine vehicles against cyber-attacks and ocean disturbances. The motion dynamics are firstly represented by the Takagi-Sugeno (T-S) fuzzy DP models. Secondly, for the purpose of obtaining the surge position, sway position, yaw angle and velocity of unmanned marine vehicles, a fuzzy state observer is proposed to estimate them. Then, a hybrid-triggered mechanism described by a Bernoulli variable is designed to save the communication resources. To overcome the impacts of cyber-attacks and ocean disturbances, a fuzzy ${H_\infty }$ hybrid-triggered DP output feedback controller based on finite-time theory is developed. The stability criterions of the considered systems are formulated through establishing finite-time Lyapunov-Krasovskii functional. Finally, the simulation and comparison results validate the feasibility and superiority of the proposed scheme.