Dynamic event-triggered resilient time synchronous formation secure control for heterogeneous AUVs under deception attacks

Reliable cooperative control is investigated for heterogeneous autonomous underwater vehicle (AUV) formations with uncertain dynamics and control-channel deception attacks. To address this problem, a dynamic event-triggered sliding mode scheme with a fixed-time synchronous disturbance observer, denoted by FTSDO-DETSMC, is constructed for time-invariant and time-varying formation objectives. In the proposed design, controller updates and communication actions are scheduled by a dynamic triggering rule, whereas the observer reconstructs the lumped effect of nonlinear uncertainties and attack-induced perturbations. The Lyapunov-based analysis proves that the formation error enters a bounded neighborhood of the origin within a fixed time that does not depend on the initial condition, and it also establishes the exclusion of Zeno behavior. Two numerical formation scenarios are used to show the transient and steady-state responses predicted by the theoretical results.