Intelligent Event-Based Fuzzy Dynamic Positioning Control of Nonlinear Unmanned Marine Vehicles Under DoS Attack

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Original languageEnglish
Pages (from-to)13486-13499
Journal / PublicationIEEE Transactions on Cybernetics
Issue number12
Online published3 Dec 2021
Publication statusPublished - Dec 2022


This article addresses the dynamic positioning control problem of a nonlinear unmanned marine vehicle (UMV) system subject to network communication constraints and deny-of-service (DoS) attack, where the dynamics of UMV are described by a Takagi-Sugeno (T-S) fuzzy system (TSFS). In order to save limited communication resource, a new intelligent event-triggering mechanism is proposed, in which the event triggering threshold is optimized by a Q-learning algorithm. Then, a switched system approach is proposed to deal with the aperiodic DoS attack occurring in the communication channels. With a proper piecewise Lyapunov function, some sufficient conditions for global exponential stability (GES) of the closed-loop nonlinear UMV system are derived, and the corresponding observer and controller gains are designed via solving a set of matrix inequalities. A benchmark nonlinear UMV system is adopted as an example in simulation, and the simulation results validate the effectiveness of the proposed control method.

Research Area(s)

  • Adaptive control, deny-of-service (DoS) attack, intelligent event-triggering, nonlinear unmanned marine vehicle (UMV) system, Q-learning, Takagi-Sugeno fuzzy system (TSFS)