Defense and Tolerance Technique Against Attacks and Faults on Leader-Following Multi-USVs

Liu, Chun; Xia, Zhiwei; Tian, Yongxiao; Patton, Ron J.

Abstract

This study explores the leader-following consensus tracking control issue of multiple unmanned surface vehicles (multi-USVs) in the presence of malicious connectivity-mixed attacks in the cyber layer, and concurrent output channel noises, sensor/actuator faults, and wave-induced disturbances in the physical layer. Sensor/actuator faults are initially modeled with unified incipient and abrupt features. Additionally, connectivity-mixed attacks are depicted using connectivity-paralyzed and connectivity-maintained topologies through nonoverlapping and switching iterations. The standardization and observer design in multi-USVs are incorporated to decouple the augmented dynamics and estimate unknown state, fault, and noise observations, and then a defense and fault-tolerant consensus tracking control approach is designed to accomplish the robustness to disturbances/noises, resilience to attacks, and tolerance to faults, simultaneously. The criteria for achieving leader-following exponential consensus tracking of multi-USVs with cyber-physical threats can be determined based on activation rate and attack frequency indicators. Comparative simulations outline the effectiveness and economy of the proposed defense and tolerance technique against sensor/actuator faults and cyber-attacks on multi-USVs.

Citation

Liu, C., Xia, Z., Tian, Y., & Patton, R. J. (in press). Defense and Tolerance Technique Against Attacks and Faults on Leader-Following Multi-USVs. IEEE Transactions on Intelligent Transportation Systems, https://doi.org/10.1109/TITS.2023.3330570

• Journal Article Type: Article
• Acceptance Date: Nov 3, 2023
• Online Publication Date: Nov 22, 2023
• Deposit Date: Nov 22, 2023
• Publicly Available Date: Nov 27, 2023
• Journal: IEEE Transactions on Intelligent Transportation Systems
• Print ISSN: 1524-9050
• Electronic ISSN: 1558-0016
• Publisher: Institute of Electrical and Electronics Engineers
• Peer Reviewed: Peer Reviewed
• DOI: https://doi.org/10.1109/TITS.2023.3330570
• Keywords: Defense and tolerance technique; Fault-tolerant consensus tracking; Multi-USVs; Actuator and sensor faults; Cyber-attacks
• Public URL: https://hull-repository.worktribe.com/output/4448876