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Related Experiment Video

Updated: Mar 20, 2026

Operation of the Collaborative Composite Manufacturing CCM System

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

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

Lili Li¹, Bin Lu¹, Tieshan Li²

¹College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China.

ISA Transactions

|March 18, 2026

Summary

Networked unmanned surface vessel (NUSV) swarms face communication and security challenges. A new bumpless control strategy enhances swarm stability and positioning against deception attacks.

Keywords:

Bumpless transfer (BT) control Cooperative dynamic positioning (CDP)Deception attacks (DAs)Networked unmanned surface vessels (NUSVs)Switching modeling

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Last Updated: Mar 20, 2026

Operation of the Collaborative Composite Manufacturing CCM System

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Published on: October 1, 2019

Optimization, Test and Diagnostics of Miniaturized Hall Thrusters

Optimization, Test and Diagnostics of Miniaturized Hall Thrusters

Published on: February 16, 2019

Area of Science:

Marine Robotics
Control Systems Engineering
Networked Systems Security

Background:

Networked unmanned surface vessels (NUSVs) operate in dynamic marine environments with limited communication resources.
NUSV swarms are vulnerable to data tampering attacks, impacting network topology and cooperative dynamic positioning (CDP).
Intermittent data updates and frequent topology changes degrade CDP transient performance.

Purpose of the Study:

To investigate NUSV swarm dynamics under deception attacks (DAs) using a switching model.
To propose a multi-compensation-based bumpless CDP strategy for improved robustness.
To enhance swarm stability and positioning responsiveness in compromised communication scenarios.

Main Methods:

A switching modeling approach was developed to represent unstable subsystems under compromised communication.
A bumpless transfer (BT) control design with multi-compensation was implemented.
A distributed event-triggered (ET) scheme and a min-bump switching rule were utilized for optimal topology transitions.

Main Results:

The proposed switching model effectively captures challenges from disrupted connectivity and falsified neighbor data.
The multi-compensation BT strategy smoothed control signal transitions during topology switching and perturbations.
Simulation results confirmed superior swarm stability and positioning responsiveness against DAs compared to conventional methods.

Conclusions:

The developed multi-compensation bumpless CDP strategy significantly improves NUSV swarm performance under deception attacks.
The switching modeling approach provides a robust framework for analyzing NUSV dynamics in adversarial environments.
This research offers a promising solution for secure and stable cooperative navigation of NUSV swarms.