Event-Triggering and Quantized Sliding Mode Control of UMV Systems Under DoS Attack

This paper is concerned with security control of nonlinear unmanned marine vehicle (UMV) systems under a networked environment. The UMV system and land-based control station are connected by a communication network. Considering the limited communication resource in the marine environment, the dynamic event-triggering mechanisms are proposed in the sensor to controller and controller to actuator sides simultaneously. Meanwhile, the triggered output data is then quantized by a logarithmic quantizer before being sent to the remote control station. First, based on the Takagi-Sugeno (T-S) fuzzy theory, the nonlinear UMV system is molded as a T-S fuzzy model. Then a hybrid switched fuzzy system is established by taking the DoS attack and quantization effect into account. An observer-based sliding mode control (SMC) scheme is proposed to stabilize the system under DoS attack, and the observer gains and controller gains can be obtained by solving a set of matrix inequalities. Finally, a benchmark UMV system is used to show the effectiveness of control scheme.