Nonlinear-Finite-Time-Extended-State-Observer-Based Command Filtered Control for Unmanned Surface Vessels with Rotatable Thrusters under False Data Injection Attacks

Considering the importance of maritime cybersecurity, this study provides a solution based on a nonlinear finite-time extended state observer (NFTESO) for unmanned surface vessels (USVs) equipped with rotatable thrusters under false data injection attacks (FDIAs). First, to complete the control design for USVs in a network environment and ensure optimal tracking performance within limits, an event triggering mechanism with finite-time constraints and a concise control optimization framework are employed. Then, command filtered technology is applied to obtain the derivative of the virtual control quantity generated using a backstepping design, optimizing the information interaction process in the kinematic and dynamic loops. The design based on the NFTESO estimates the composite uncertain dynamics in the system, including FDIAs, reducing the adverse effects of cyber attacks on the system. Finally, simulation outcomes confirmed the efficacy of the proposed control strategy. The simulation results showed that, compared with two other control schemes, the control scheme designed in this paper improved lateral tracking accuracy by approximately 77.1% and 94.7%, and longitudinal tracking accuracy by approximately 95% and 98%, respectively. Communication frequency was reduced by approximately 98.82% and 82.48%, respectively.