The invention discloses a ship anti-
spoofing attack control method based on a self-feedback expansion
state observer. The ship anti-
spoofing attack control method comprises the steps that a guidance virtual ship and a dynamic virtual ship are set to construct an L2-DVS guidance strategy; constructing a
spoofing attack additional
signal model of the unmanned ship, and obtaining a ship position
signal under the spoofing
attack according to the kinematic model of the target unmanned ship; acquiring a longitudinal velocity
virtual control law of the target unmanned ship and a spoofing
attack compensation law of a
yaw angle according to the constructed error model so as to obtain a
yaw velocity
virtual control law / adaptive law; and constructing a state
memory type event triggering mechanism, obtaining a controller / adaptive law of a
rudder angle / rotating speed of the target unmanned ship in combination with a self-feedback compensation
reduced order expansion
state observer, and realizing anti-spoofing
attack control of the target unmanned ship according to the
yaw velocity
virtual control law / adaptive law and the controller / adaptive law of the
rudder angle / rotating speed. The problems that the research of the application in the current
network attack environment is not complete enough, the unmanned ship is disturbed all the time in the marine environment, the
actuator continuously responds to the disturbance, and the excessive wear of the steering engine is greatly increased are solved.