Thruster Fault Detection for Unmanned Marine Vehicles Under DoS Attacks: An Asynchronous Switched Method

A novel thruster fault detection (FD) strategy is investigated in this article for unmanned marine vehicles (UMVs) under external disturbances and aperiodic denial-of-service (DoS) attacks. To address the challenge of the inability to timely detect DoS attacks, the UMV under consideration and its corresponding filters are initially modeled under the framework of an asynchronous switched system. Then, sufficient conditions guaranteeing the system to be exponentially stable and with the prescribed performances are derived by leveraging the model-dependent average dwell time (MDADT) and piecewise Lyapunov functions (PLFs). Simultaneously, the lower bound of the tolerable sleep interval and the upper bound of the DoS attack interval are rigorously calculated. The design criteria of the FD filters are subsequently obtained through the employment of some decoupling techniques. Finally, the simulations on a UMV demonstrate the effectiveness of the proposed methods.