非线性装饰驱动的自适应神经有限时间控制,用于在虚假数据注入攻击和输入和攻击下具有两个可旋转推进器的USV
Xiangfei Meng1, Guichen Zhang1, Bing Han2
1Merchant Marine College, Shanghai Maritime University, Shanghai, 201306, China.
ISA transactions
|February 7, 2025
概括
这项研究为面临虚假数据注入攻击和输入和的无人驾驶水面船提供了一个强大的控制方案. 适应性有限时间控制确保稳定的轨迹跟踪,尽管网络不确定性和干扰.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 海洋系统中的网络安全
背景情况:
- 无人驾驶水面船只 (USV) 需要先进的控制来实现可靠的导航.
- 不良的网络条件,包括虚假数据注入攻击 (FDIA) 和输入和,对USV控制系统构成重大挑战.
- 现有的控制策略可能无法充分解决FDIA和系统约束的综合影响.
研究的目的:
- 为在具有挑战性的网络环境中运行的USV开发一个强大的轨迹跟踪控制方案.
- 为了减轻虚假数据注入攻击 (FDIA) 和输入和对USV性能的影响.
- 确保稳定和准确的路径,尽管内部和外部系统的不确定性.
主要方法:
- 实现了超标触角函数,以实现流的控制输入过渡,防止振荡.
- 利用逐步重建来解决FDIA在动态和动态道中的问题.
- 采用一个后退框架与虚拟自适应技术用于动态通道干扰补偿.
- 应用基于神经的,高速干扰补偿动态通道不确定性和FDIAs.
- 引入了基于非线性装饰的自适应有限时间控制,使用利亚普诺夫稳定性理论进行分析.
主要成果:
- 拟议的控制方案确保闭环系统内的所有信号保持受限.
- 模拟证明了自适应有限时间控制策略的有效性.
- 在FDIA和输入和下,USVs成功追踪了参考轨迹,在FDIA和输入和下表现满意.
结论:
- 开发的自适应有限时间控制方案有效地提高了USVs对网络攻击和系统约束的稳定性.
- 控制策略为复杂和不确定的海洋环境中轨迹跟踪提供了可靠的解决方案.
- 这项研究有助于推进无人驾驶水面船舶的安全和自主导航.
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