Unmanned ship control method based on switching t-s fuzzy system under dos attack

Abstract

The present invention discloses an event-triggered scheme (Event-Triggered Scheme, ETS) and T-S (Takagi-Sugeno) fuzzy H ∞ The collaborative design method of controllers involves the fields of network security and motion control of unmanned ships, and provides a mean square stability control scheme for underactuated unmanned surface vehicles (Unmanned Surface Vehicle, USV) systems. Aiming at the problem of unmanned ship control based on switching T-S fuzzy system under aperiodic DoS attack, a H ∞ controller design method. The characteristics of the control system of the unmanned ship under DoS attack are analyzed, and the external disturbance during the navigation is added to the motion model of the unmanned ship, and the switching system model of the unmanned ship is established. The stability of the system is analyzed by segmented Lyapunov functional, and then the controller gain and event trigger scheme weight matrix parameters are obtained, which ensures that the networked unmanned ship navigation system has the ability to resist DoS attacks and external interference.

Description

technical field [0001] The invention belongs to the technical fields of network security and motion control of unmanned boats, and in particular relates to the situation of DoS attack, communication time delay and network bandwidth limitation in the unmanned boat control system. Scheme and T-S Fuzzy H ∞ A collaborative design method for controllers. Background technique [0002] In order to realize the autonomous navigation of unmanned ships, the effective control of the unmanned ships is usually realized by the shore-based control center in the network environment. The data exchange of navigation information and control signals between the unmanned ship and the control center is realized through the network. As a result, unmanned ships, shore-based control centers and communication networks together constitute Networked Control Systems (NCSs). [0003] Networked control systems are widely used in intelligent industrial production and transportation, such as robots, unman...

AI Technical Summary

Problems solved by technology

[0004] Network security issues are a major research hotspot in networked control systems. Networked control systems often adopt distributed control methods, and the collected dynamic information and various control signals are transmitted through network communication channels. As the network becomes more and more open And the continuous expansion of network scale will inevitably increase the possibility of network attacks, such as spoofing attacks and denial of service (Denial of Service, DoS) attacks, etc., denial of service attacks will occupy communication channels, consume network bandwidth, and cause normal communication to be blocked broken

If the signal transmission is blocked, the entire control system may be unstable, which brings new problems to the research of control theory.

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