Fault detection filter design for unmanned surface vehicle systems via an improved dynamic event-triggered protocol under deception attacks

This paper focuses on the fault detection filter problem for unmanned surface vehicle systems via an improved dynamic event-triggered protocol under deception attacks. Taking into account factors such as external disturbances and potential system faults, a motion model for the unmanned surface vehicle system in a complex environment is constructed. To alleviate communication burden and enhance design flexibility, an improved dynamic event-triggered protocol with dual internal dynamic variables is introduced. Based on dynamic event-triggering, a fault detection framework under deception attacks for unmanned surface vehicle systems is established. Utilizing the Lyapunov stability theory, sufficient conditions are presented to ensure the stochastic stability of the residual system with H ∞ performance. Solvability criteria are presented to obtain the fault detection filter gains. A numerical simulation is provided to illustrate the effectiveness of the proposed fault detection method.