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Data-driven adaptive trajectory tracking control of unmanned marine vehicles under disturbances and DoS attacks
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  • Li-Ying Hao,
  • Huiying Liu,
  • Yanli Liu,
  • Yongpeng Weng
Li-Ying Hao
Dalian University of Technology Department of Engineering Mechanics

Corresponding Author:haoliying_0305@163.com

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Huiying Liu
Dalian University of Technology Department of Engineering Mechanics
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Yanli Liu
Dalian University of Technology Department of Engineering Mechanics
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Yongpeng Weng
Dalian University of Technology Department of Engineering Mechanics
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Abstract

This article researches the trajectory tracking problem for unmanned marine vehicles (UMVs) with disturbances and under denial-of-services (DoS) attacks in the wireless channel. By applying the partial form dynamic linearization algorithm, an equivalent data-driven model of the UMVs with ocean disturbances is firstly established. And the disturbances are estimated by using extended state observer, which improves the immunity of the UMVs to disturbances in the environment, and the robustness of the UMVs systems is better. It is the first time that the DoS attacks are considered under the data model for UMVs, and a novel data-driven adaptive trajectory tracking control framework is constructed. When the proposed equivalent data model suffers from DoS attacks which follows the Bernoulli distribution, an attack predictive compensation mechanism is devised to relieve the influence of DoS attacks. Based on it, the data-driven adaptive trajectory tracking controller is designed such that the error of trajectory tracking is convergent under DoS attacks and external disturbances. Finally, the effectiveness of the proposed data-driven control scheme and the predictive compensation mechanism is validated through the simulations.
10 May 2023Submitted to International Journal of Robust and Nonlinear Control
10 May 2023Submission Checks Completed
10 May 2023Assigned to Editor
10 May 2023Review(s) Completed, Editorial Evaluation Pending
31 May 2023Reviewer(s) Assigned
15 Jul 2023Editorial Decision: Revise Minor
02 Aug 20231st Revision Received
07 Aug 2023Submission Checks Completed
07 Aug 2023Assigned to Editor
07 Aug 2023Review(s) Completed, Editorial Evaluation Pending
11 Aug 2023Reviewer(s) Assigned
19 Sep 2023Editorial Decision: Accept