Anti-windup attitude control of autonomous underwater vehicles under sensor attacks via a dynamic event-triggered model reference adaptive approach

This paper investigates a model reference adaptive control (MRAC) framework incorporating PID characteristics, enhanced by a dynamic event-triggered strategy (ETS), an integrated anti-windup (AW) compensator, and a sensor attack compensation mechanism, to address the practical challenges of actuator saturation, sensor attacks, and limited computational resources in autonomous underwater vehicle (AUV) controller design. Unlike existing approaches, the proposed MRAC-based solution simultaneously ensures asymptotic stability and precludes Zeno behaviour. The adaptive laws are formulated with time-varying components to provide rigorous theoretical guarantees for achieving the control objectives. Simulation results validate the effectiveness and feasibility of the method, demonstrating its practical utility.