Dynamic Event-Triggered Fuzzy Control of Networked Unmanned Surface Vehicles Under Hybrid Cyber Attacks

In the realm of networked control systems for unmanned surface vehicles (USVs), guaranteeing the precise positioning and stable control of USVs against cyber attacks has become a critical concern. This work investigates the networked motion control system of an USV under hybrid network attack. We propose a dynamic event triggering control mechanism to resist aperiodic DoS and random FDI attacks, ensuring the optimal utilisation of communication resources. Subsequently, a novel controller design strategy is introduced to ensure the exponential stability of the system in the face of complex network attacks by establishing the T-S fuzzy model of the USV and combining Lyapunov function theory with the linear matrix inequality method. Extensive simulations and experiments on the performance of the control system indicate that our dynamic event triggering control mechanism can effectively cope with both single network attacks and mixed network attacks. These analyses confirm the practicality of the method, reveal the possibility and challenge of maintaining system stability in the real complex attack environment.