Distributed multi-compensation-based bumpless cooperative dynamic positioning for networked unmanned surface vessels...

In practical marine environments, networked unmanned surface vessels (NUSVs) swarms face both constrained communication resources requiring frequent topology changes and security vulnerabilities due to data tampering attacks that alter network structures. These issues, together with intermittent data updates, adversely affect the cooperative dynamic positioning (CDP)'s transient performance. Therefore, the objectives of this paper are to investigate NUSVs' swarm dynamics under deception attacks (DAs) through a switching modeling approach and propose a multi-compensation-based bumpless CDP strategy. The developed switching model captures these challenges through unstable subsystems representing compromised communication scenarios, where certain NUSVs experience disrupted connectivity or receive falsified neighbor data. The bumpless transfer (BT) control design incorporates a multi-compensation mechanism to smooth control signal transitions during topology switching, event-triggered (ET) updates, and DA-induced perturbations. A distributed ET scheme provides necessary compensation intervals, while a min-bump switching rule dynamically selects optimal topology transitions. Compared to conventional methods, this approach demonstrates superior swarm stability and positioning responsiveness against DAs, as confirmed by simulation results.