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

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.