USV Control With Adaptive Compensation Under False Data Injection Attacks

This work concerns the control problem of a networked-based unmanned surface vehicle (USV) system subject to communication delays, external disturbance and false data injection (FDI) attacks. The communication channel between the control station and the actuator is vulnerable to cyber attacks. In this work, we propose an adaptive compensation module to track the given trajectory in presence of FDI attacks. Moreover, an event-triggered mechanism is introduced to handle the communication delay from the sampler to control station actuator via communication network. Finally, numerical simulation demonstrates that the method we proposed is effective.