Event-triggered stable depth tracking control method for AUV under denial of service attack

Abstract

The present invention discloses a method for controlling the stable depth tracking of an AUV based on event triggering under a denial of service attack, including constructing a dynamic model of the AUV under water flow disturbance, constructing a mathematical model of the denial of service attack; obtaining a controller of the AUV control system; performing event triggering control on the controller to obtain a control input of the AUV control system; setting a depth tracking path of the AUV, and performing path tracking control on the AUV according to the control input to achieve stable depth tracking control of the AUV. The present invention can effectively resist the adverse effects of a denial of service attack, reduce the impact of water flow disturbance on the AUV, reduce the computational burden, significantly save energy and communication resources, reduce actuator wear, and at the same time be able to control the path depth tracking error fluctuation within a relatively small range, laying a key foundation for deep-sea construction, ocean monitoring, seabed mapping and other fields.

Description

Technical Field

[0001] The present invention belongs to the field of AUV (Autonomous Underwater Vehicle) tracking control, and in particular relates to an event-triggered AUV stable depth tracking control method under a denial of service attack. Background Art

[0002] AUVs have broad application prospects in the fields of ocean monitoring, resource exploration, military applications, environmental protection and scientific research. They can improve the efficiency and safety of underwater operations while reducing labor costs and risks. AUVs can not only achieve remote control and autonomous navigation, but can also be equipped with various sensors and equipment for data collection, so their research in the military and civilian fields is of great significance.

[0003] In various application scenarios of AUV, such as underwater terrain survey or seabed pipeline inspection, stable depth control is required, so fixed depth navigation or tracking trajectory navigation has become a common navigation state. However, there are complex and continuous external environmental interferences in AUV underwater. On the one hand, these problems have an adverse effect on the stable operation of AUV, and on the other hand, they also put forward higher requirements on the anti-interference and robustness of AUV depth controller design. Effective path tracking control can ensure that AUV runs according to the predetermined trajectory and improve the accuracy and reliability of task execution. At the same time, taking into account various interference factors in the marine environment, path tracking control must not only ensure that AUV can accurately reach the target point, but also ensure that it maintains a stable posture and speed throughout the process.

[0004] In addition, during the data transmission process during the normal operation of the AUV, the communication channel is vulnerable to malicious attacks, one common form of attack is the denial of service attack. The attacker sends a large number of invalid requests to the AUV's communication system, causing system resources to be exhausted, thereby interfering with or interrupting normal communication and control. This attack can seriously affect the operation of the AUV and is an important issue that needs to be addressed in AUV control. In a periodic sampling control system, the sampling time is usually set short to ensure system performance. However, this will bring many unnecessary control inputs, resulting in a waste of energy and communication resources and wear of the actuator. Summary of the invention

[0005] In order to solve the problems in the prior art, the present invention provides an event-triggered AUV stable depth tracking control method under a denial of service attack, which can ensure that the AUV system can stably track the trajectory and reduce the communication volume, thereby solving the motion control problem of the AUV under a denial of network service attack.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] In a first aspect, the present invention discloses an event-triggered AUV stable depth tracking control method under a denial of service attack, comprising:

[0008] 1) Construct a dynamic model of the AUV to be controlled under water flow disturbance and a mathematical model of denial of service attack;

[0009] 2) Obtaining a controller of the AUV control system according to the two models and event triggering obtained in step 1);

[0010] 3) performing event-triggered control on a controller of the AUV control system, wherein the event-triggered control is used to obtain a control input of the AUV control system;

[0011] 4) setting a depth tracking path of the AUV, using the controller based on the depth tracking path of the AUV and using event-triggered control to obtain a control input of the AUV control system, performing path tracking control on the AUV according to the control input, and realizing stable depth tracking control of the AUV.

[0012] In a second aspect, the present invention discloses an AUV stable depth tracking control system for implementing the method, comprising:

[0013] The first building module is used to build a dynamic model of the AUV to be controlled under water flow disturbance and a mathematical model of denial of service attack;

[0014] A second building block is used to obtain a controller of the AUV control system based on the dynamic model, the denial of service attack mathematical model and event triggering;

[0015] The depth tracking module is used to set the depth tracking path of the AUV, adopt the controller based on the depth tracking path of the AUV and use event trigger control to obtain the control input of the AUV control system, perform path tracking control on the AUV according to the control input, and realize stable depth tracking control of the AUV.

[0016] In a third aspect, the present invention discloses an electronic device, including a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor executes the machine executable instructions to implement the event-triggered AUV stable depth tracking control method under the denial of service attack.

[0017] In a fourth aspect, the present invention discloses a machine-readable storage medium, which stores machine-executable instructions. When the machine-executable instructions are called and executed by a processor, they are used to implement the event-triggered AUV stable depth tracking control method under the denial of service attack.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The present invention adopts an event-triggered control method to model the depth tracking system of an autonomous underwater vehicle (AUV) to cope with the adverse effects of water flow interference and denial of service attacks. Therefore, the problem that the prior art cannot effectively cope with complex water flow environments and network security threats is overcome, thereby significantly improving the stability and security of the AUV control system. Specifically, the present invention introduces an event trigger mechanism so that the state information of the AUV system is communicated only when a specific event is triggered, thereby overcoming the problems of high energy consumption and waste of communication resources under the traditional continuous communication mode. By reducing unnecessary communication frequency and data transmission volume, the computational burden and energy consumption of the system are significantly reduced, while the wear of the actuator is effectively reduced and the service life of the equipment is extended. In addition, the present invention also designs a control algorithm with strong anti-interference ability for the failure of control instructions that may be caused by denial of service attacks, thereby overcoming the shortcomings of the prior art that lacks a network attack protection mechanism and enhancing the autonomy and reliability of AUV in complex marine environments. Through the above technical means, the present invention achieves a dual improvement in the energy efficiency and safety of the AUV system while ensuring control accuracy, providing a more robust and efficient solution for the practical application of AUV. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a flow chart of an exemplary embodiment showing an event-triggered AUV stable depth tracking control method under a denial of service attack.

[0021] Figure 2 It is a schematic diagram of a depth trajectory and an expected depth trajectory under a relative threshold event triggering mechanism according to an embodiment of the present invention.

[0022] Figure 3 3 is a time response diagram of the trim angle of the AUV under the relative threshold event triggering mechanism of the embodiment of the present invention.

[0023] Figure 4 It is a time response diagram of the pitch angular velocity of the AUV under the relative threshold event triggering mechanism of the embodiment of the present invention.

[0024] Figure 5 It is a schematic diagram of the event trigger sampling interval under the relative threshold event trigger mechanism.

[0025] Figure 6 It is a block diagram of an AUV stable depth tracking control system based on event triggering under a denial of service attack of the present invention. DETAILED DESCRIPTION

[0026] The present invention is further described and illustrated below in conjunction with specific embodiments. The embodiments are merely exemplary of the present disclosure and do not define the scope of limitation. The technical features of each embodiment of the present invention may be combined accordingly without conflicting with each other.

[0027] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0028] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0029] Figure 1 FIG. 1 is a flow chart of an AUV stable depth tracking control method based on event triggering under a denial of service attack according to an exemplary embodiment. Figure 1 As shown, the method may include the following steps:

[0030] S1: Construct the dynamic model of the AUV to be controlled under water flow disturbance; S2: Construct the mathematical model of denial of service attack;

[0031] S3: Obtain the controller of the AUV control system according to the two models S1 and S2 and the event trigger; wherein the AUV control system is a system for controlling the AUV, which accurately controls the speed, direction, depth and posture of the AUV according to the control input to ensure that it moves according to the predetermined trajectory and action;

[0032] S4: performing event-triggered control on the controller of the AUV control system, wherein the event-triggered control is used to obtain the control input of the AUV control system; S5: setting the depth tracking path of the AUV, adopting the controller based on the depth tracking path of the AUV and using event-triggered control to obtain the control input of the AUV control system, performing path tracking control on the AUV according to the control input, and realizing stable depth tracking control of the AUV.

[0033] It can be seen from the above embodiments that the present invention aims at the path tracking control problem of AUV under water flow interference, while considering the impact of denial of service attacks, constructs a reliable controller, performs event-triggered control on the closed-loop control AUV model, and effectively tracks the trajectory. The bounded stability of the AUV state quantity is achieved through the reliable controller and the event-triggered mechanism, and at the same time, the communication volume is greatly reduced.

[0034] In the specific implementation of S1: construct the dynamic model of AUV under water flow disturbance;

[0035] When the AUV dives into deeper waters, its longitudinal swaying motion is mainly concerned, while its three-degree-of-freedom linear motion, lateral swaying, and bow swaying are ignored. Based on the kinematic and dynamic equations of the AUV, the coordinate transformation relationship and external disturbances are considered. When the forward speed (axial speed) of the AUV is u, its depth control model is:

[0036]

[0037] in:

[0038]

[0039] Where: z is the actual depth of the AUV; θ is the pitch angle of the AUV; q is the pitch angular velocity of the AUV; m q is the middle value; d q is the middle value; τ s is the pitch moment generated by the AUV stern rudder; d is the interference of the external ocean current; M uq is the coupled hydrodynamic coefficient of AUV; z B is the position of the equivalent action point of the buoyancy force on the AUV; B is the buoyancy force on the AUV; I y is the moment of inertia of AUV in the y-axis direction; is the angular acceleration hydrodynamic coefficient of the AUV. To facilitate the subsequent design process, equations (1) to (4) are rewritten as follows:

[0040]

[0041] in,

[0042] Furthermore, a mathematical model of denial of service attack is constructed, including:

[0043] The Bernoulli random process is used to construct a mathematical model of denial of service attacks.

[0044]

[0045] Wherein, α(t) is a Bernoulli random process. When its value is 1, it indicates that the data is successfully transmitted; otherwise, it indicates that an attack has occurred and the data transmission fails. Prob{α(t)=1} is the probability value of successful data transmission. is the mathematical expectation of a denial of service attack.

[0046] In the specific implementation of S3:

[0047] According to the constructed AUV dynamics model and the mathematical model of denial of service attack, a controller based on nonlinear error is designed. The main parts of the controller include the following:

[0048] Defining the error

[0049] Depth error: x 1 =zz d (7)

[0050] First intermediate error variable: x 2 =θ-β 1 (8)

[0051] Second intermediate error variable: x 3 =q-β 2 (9)

[0052] where z d is the target depth trajectory, β 1 , β 2 is an intermediate variable. 1 , β 2 The calculation of is based on the target depth trajectory and its rate of change, as well as the AUV's current depth and inclination errors, and is specifically defined as follows:

[0053]

[0054] Among them, k 1 ,k 2 is the control gain, k 1 , k 2 are all constants, and k 1 >0 and k 2 >0.

[0055] Considering the nonlinear behavior in the system, an intermediate nonlinear error variable S is defined. S is defined as follows:

[0056]

[0057] in:

[0058]

[0059] β 3It is an adaptive parameter that is updated over time and is adjusted to compensate for nonlinear characteristics in the system. 4 >0 is a constant; h 1 is the parameter for adjusting the nonlinear compensation characteristics, h 1 >0 is a constant; k 3 is the control gain, k 3 >0 is a constant;

[0060] Define the signal ζ(t), which is an intermediate signal generated by integrating the errors and dynamic characteristics in the AUV control system. ζ(t) is defined as follows:

[0061]

[0062] Among them, β 5 is the adjustment parameter, a 3 α<β 5 <0 and is a constant, α>0 and is a constant; δ is the sensitivity of the AUV control system to errors, 0<δ<1 and is a constant; h 2 is the parameter for adjusting the nonlinear compensation characteristics, h 2 >0 is a constant.

[0063] Based on the mathematical model of denial of service attack and event triggering, the control input model of the AUV control system is:

[0064] τ s (t) = α(t)ζ(t k ) (14)

[0065] Among them, τ s (t) is the control input of the AUV control system at time t. k-1 <t<t k ζ(t k ) is t k At time t, the function value corresponding to ζ(t); k The time when the event is triggered.

[0066] In the specific implementation of S4: performing event-triggered control on the control input model;

[0067] The controller of the control system of the AUV is subjected to relative threshold event triggering control. First, the event triggering time is updated: t k+1 =min{t>t k ||ζ(t)-τ s (t)|>δ|τ s (t)|+m}(15)

[0068] Wherein, m is a preset constant greater than 0;

[0069] Get t k+1 The time ζ(t k+1 ), and based on ζ(t k+1 ) Recalculate τ s (t), that is, τ s (t) = α(t)ζ(t k+1 ), at this time t k <t<t k+1 .

[0070] In the specific implementation of S5: the event trigger control is used to obtain the control input of the AUV control system between the event triggering moment and the two adjacent event triggering moments, and the AUV is subjected to path tracking control according to the obtained control input to achieve stable depth tracking control of the AUV.

[0071] Specifically: setting a depth tracking path and selecting a water flow interference to ensure that the water flow interference is smaller than the reference signal and is bounded;

[0072] In practical applications, the amplitude of water flow interference should be smaller than the reference path. According to the reference path, the water flow vector d=0.14sin(πt+0.3). The boundedness of water flow interference also ensures the stability of path depth tracking.

[0073] In order to more effectively illustrate the effectiveness of the method of the present invention, all parameters and parameter initialization are shown in Table 1 Table 1 Parameters and parameter initialization

[0074]

[0075]

[0076] Example: Stable tracking control of AUV with water flow disturbance

[0077] Select reference trajectory z d =0.8e (-0.5t) sin(2t)+0.5, add water flow interference to the AUV stable tracking control, the control model simulation is as follows Figure 2-Figure 4 shown. Figure 2-Figure 4 The figure shows the time response of each state quantity under the relative threshold event trigger mechanism. Figure 5 Shown is a schematic diagram of the event trigger sampling interval under the relative threshold event trigger mechanism. Figure 2-5 The results show that, considering the denial of service attack and water flow interference, the relative threshold trigger mechanism used can make the AUV stable tracking control system achieve bounded stability and achieve satisfactory tracking performance. At the same time, due to the introduction of the event trigger mechanism, the communication volume is greatly reduced, which can save communication resources and costs while ensuring the stability of the system.

[0078] Corresponding to the aforementioned embodiment of the AUV stable tracking control method based on event triggering under a denial of service network attack, the present application also provides an embodiment of an AUV stable tracking control system device based on event triggering under a denial of service network attack.

[0079] like Figure 6 As shown, in this embodiment, an AUV stable depth tracking control system based on event triggering under a denial of service attack is also provided, including:

[0080] The first building module is used to build a dynamic model of the AUV to be controlled under water flow disturbance and a mathematical model of denial of service attack;

[0081] A second building block is used to obtain a controller of the AUV control system based on the dynamic model, the denial of service attack mathematical model and event triggering;

[0082] The depth tracking module is used to set the depth tracking path of the AUV, adopt the controller based on the depth tracking path of the AUV and use event trigger control to obtain the control input of the AUV control system, perform path tracking control on the AUV according to the control input, and realize stable depth tracking control of the AUV.

[0083] For the system embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment, and the implementation methods of the remaining modules will not be repeated here. The system embodiment described above is only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of the present invention. Ordinary technicians in this field can understand and implement it without paying creative work.

[0084] The embodiments of the system of the present invention can be applied to any device with data processing capabilities, and the device with data processing capabilities can be a device or apparatus such as a computer. The system embodiments can be implemented by software, or by hardware or a combination of software and hardware. Taking software implementation as an example, as a device in a logical sense, the corresponding computer program instructions in the non-volatile memory are read into the memory by the processor of any device with data processing capabilities and run.

[0085] An embodiment of the present invention further provides an electronic device, including a memory and a processor;

[0086] The memory is used to store computer programs;

[0087] The processor is used to implement the above-mentioned event-triggered AUV stable depth tracking control method under denial of service attack when executing the computer program.

[0088] An embodiment of the present invention further provides a computer-readable storage medium having a program stored thereon. When the program is executed by a processor, the above-mentioned event-triggered AUV stable depth tracking control method under a denial of service attack is implemented.

[0089] The computer-readable storage medium may be an internal storage unit of any device with data processing capability described in any of the aforementioned embodiments, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device of any device with data processing capability, such as a plug-in hard disk, a smart media card (SMC), an SD card, a flash card, etc. equipped on the device. Furthermore, the computer-readable storage medium may also include both an internal storage unit and an external storage device of any device with data processing capability. The computer-readable storage medium is used to store the computer program and other programs and data required by any device with data processing capability, and may also be used to temporarily store data that has been output or is to be output.

[0090] Obviously, the above-described embodiments and drawings are only some examples of the present application. For those of ordinary skill in the art, the present application can also be applied to other similar situations based on these drawings without creative work. In addition, it is understandable that, although the work done in this development process may be complicated and lengthy, for those of ordinary skill in the art, certain changes in design, manufacturing or production based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient content disclosed in this application. Without departing from the concept of the present application, several variations and improvements can also be made, which all belong to the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the attached claims.

Claims

1. A method for stable depth tracking control of AUV based on event triggering under denial of service attack, characterized in that: include: 1) Construct a dynamic model of the AUV to be controlled under water flow disturbance and a mathematical model of denial of service attack; 2) Obtaining a controller of the AUV control system according to the two models and event triggering obtained in step 1); 3) performing event-triggered control on a controller of the AUV control system, wherein the event-triggered control is used to obtain a control input of the AUV control system; 4) setting a depth tracking path of the AUV, using the controller based on the depth tracking path of the AUV and using event-triggered control to obtain a control input of the AUV control system, performing path tracking control on the AUV according to the control input, and realizing stable depth tracking control of the AUV; In step 1), the dynamic model of the AUV under water flow disturbance includes: The depth control model of AUV is: Where z is the actual depth of the AUV; u is the forward speed of the AUV; θ is the pitch angle of the AUV; q is the pitch angular velocity of the AUV; τ s is the pitch moment generated by the AUV stern rudder; d is the interference of the external ocean current; z B is the position of the equivalent action point of the buoyancy force on the AUV, B is the buoyancy force on the AUV, I y is the moment of inertia of AUV in the y-axis direction, is the angular acceleration hydrodynamic coefficient of the AUV; M uq is the coupled hydrodynamic coefficient of AUV; In step 1), the construction of a denial of service attack mathematical model includes: The Bernoulli random process is used to construct a mathematical model of denial of service attacks. Wherein, α(t) is a Bernoulli random process. When its value is 1, it indicates that the data is successfully transmitted, otherwise the data transmission fails. t is the time. Prob{α(t)=1} is the probability of successful data transmission. is the mathematical expectation of a denial of service attack; The step 2) comprises: According to the dynamic model and the denial of service attack mathematical model in step 1), a controller based on nonlinear error is constructed, and the nonlinear error S is: Among them, x1 is the depth error, x1 = zz d , z d is the depth trajectory of the target; x2 is the first intermediate error variable, x2 = θ-β1, β1 is the intermediate variable, k1 is the control gain, k1>0 and is a constant; k3 is the control gain, k3>0 and is a constant; x3 is the second intermediate error variable, x3=q-β2, β2 is the intermediate variable, k2 is the control gain, k1>0 and is a constant; β3 is an adaptive parameter updated over time, β4>0 and is a constant; h1 is a parameter for adjusting the nonlinear compensation characteristics, h1>0 and is a constant; The error and dynamic characteristics in the AUV control system are integrated to generate the intermediate signal ζ(t), which is: Among them, β5 is the adjustment parameter, a3α<β5<0 and is a constant, α>0 and is a constant; δ is the sensitivity of the AUV control system to the error, 0<δ<1 and is a constant; h2 is the parameter for adjusting the nonlinear compensation characteristics, h2>0 and is a constant; Based on the mathematical model of denial of service attack and event triggering, the control input of the AUV control system is: t s (t)=α(t)ζ(t k ) Among them, τ s (t) is the control input of the AUV control system at time t. k-1 <t<t k ;ζ(t k ) is t k At time t, the function value corresponding to ζ(t); k The time when the event is triggered.

2. The method according to claim 1, characterized in that The step 3) comprises: The control input of the AUV control system is subjected to relative threshold event triggering control. First, the event triggering time is updated: t k+1 =min{t>t k ||ζ(t)-τ s (t)|>δ|τ s (t)|+m} Wherein, m is a preset constant greater than 0; Get t k+1 The time ζ(t k+1 ), and based on ζ(t k+1 ) Recalculate τ s (t), that is τ s (t) = α(t)ζ(t k+1 ), where t k < t < t k+1 .

3. The method according to claim 2, characterized in that The step 4) comprises: Event-triggered control is used to obtain the control input of the AUV control system at the event triggering moment and between two adjacent event triggering moments. The AUV is subjected to path tracking control according to the obtained control input to achieve stable depth tracking control of the AUV.

4. An AUV stable depth tracking control system for implementing the method of claim 1, characterized in that: include: The first building module is used to build a dynamic model of the AUV to be controlled under water flow disturbance and to build a mathematical model of denial of service attack; The dynamic model of the AUV under water flow disturbance includes: The depth control model of AUV is: Where z is the actual depth of the AUV; u is the forward speed of the AUV; θ is the pitch angle of the AUV; q is the pitch angular velocity of the AUV; τ s is the pitch moment generated by the AUV stern rudder; d is the interference of the external ocean current; z B is the position of the equivalent action point of the buoyancy force on the AUV, B is the buoyancy force on the AUV, I y is the moment of inertia of AUV in the y-axis direction, is the angular acceleration hydrodynamic coefficient of the AUV; M uq is the coupled hydrodynamic coefficient of AUV; The method of constructing a mathematical model of a denial of service attack includes: The Bernoulli random process is used to construct a mathematical model of denial of service attacks. Wherein, α(t) is a Bernoulli random process. When its value is 1, it indicates that the data is successfully transmitted, otherwise the data transmission fails. t is the time. Prob{α(t)=1} is the probability of successful data transmission. is the mathematical expectation of a denial of service attack; A second building block is used to obtain a controller of the AUV control system based on the dynamic model, the denial of service attack mathematical model and event triggering; According to the dynamic model and the mathematical model of denial of service attack, a controller based on nonlinear error is constructed, and the nonlinear error S is: Among them, x1 is the depth error, x1 = zz d , z d is the depth trajectory of the target; x2 is the first intermediate error variable, x2 = θ-β1, β1 is the intermediate variable, k1 is the control gain, k1>0 and is a constant; k3 is the control gain, k3>0 and is a constant; x3 is the second intermediate error variable, x3=q-β2, β2 is the intermediate variable, k2 is the control gain, k1>0 and is a constant; β3 is an adaptive parameter updated over time, β4>0 and is a constant; h1 is a parameter for adjusting the nonlinear compensation characteristics, h1>0 and is a constant; The error and dynamic characteristics in the AUV control system are integrated to generate the intermediate signal ζ(t), which is: Among them, β5 is the adjustment parameter, a3α<β5<0 and is a constant, α>0 and is a constant; δ is the sensitivity of the AUV control system to the error, 0<δ<1 and is a constant; h2 is the parameter for adjusting the nonlinear compensation characteristics, h2>0 and is a constant; Based on the mathematical model of denial of service attack and event triggering, the control input of the AUV control system is: t s (t)=α(t)ζ(t k ) Among them, τ s (t) is the control input of the AUV control system at time t. k-1 <t<t k ;ζ(t k ) is t k At time t, the function value corresponding to ζ(t); k The trigger moment for the event; The depth tracking module is used to set the depth tracking path of the AUV, adopt the controller based on the depth tracking path of the AUV and use event trigger control to obtain the control input of the AUV control system, perform path tracking control on the AUV according to the control input, and realize stable depth tracking control of the AUV.

5. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor executes the machine executable instructions to implement the event-triggered AUV stable depth tracking control method under a denial of service attack as described in any one of claims 1 to 3.

6. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores machine-executable instructions, which, when called and executed by a processor, are used to implement the event-triggered AUV stable depth tracking control method under a denial of service attack as described in any one of claims 1 to 3.

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