DING Y Q, ZHANG B, LI J W. Event-triggered formation control of underactuated usvs under dos attacks[J/OL]. Acta Armamentarii, 2026(2026-02-28). https://doi.org/10.12382/bgxb.2025.0734. (in Chinese)
DING Y Q, ZHANG B, LI J W. Event-triggered formation control of underactuated usvs under dos attacks[J/OL]. Acta Armamentarii, 2026(2026-02-28). https://doi.org/10.12382/bgxb.2025.0734. (in Chinese)DOI:
Event-Triggered Formation Control of Underactuated USVs Under DoS Attacks
A distributed leader-follower formation control strategy with an event-triggered mechanism is proposed for underactuated unmanned surface vessels (USVs) under Denial-of-Service (DoS) attacks. Firstly
to address communication failures in USV formations during DoS attacks
a distributed state observer is designed to estimate the virtual leader's state information. Secondly
a novel error transformation method is introduced to circumvent controller complexity from backstepping approaches
with auxiliary variables incorporated to resolve control challenges induced by underactuation. Building on this framework
a unified controller structure is developed via event-triggered control to simultaneously achieve formation trajectory tracking and stabilization. This eliminates computational burdens and response delays caused by frequent controller switching. Theoretical analysis proves that formation control errors converge to bounded regions near zero without Zeno behavior. Finally
the effectiveness of the proposed method is validated by means of comparative simulations.
HE Y F, LU J H, SHI X J, et al. Group formation control of heterogeneous unmanned clusters based on synchronous DMPC in complex environments[J/OL]. Acta Armamentarii, 1-16[2025-08-01]. https://link.cnki.net/urlid/11.2176.TJ.20 250417.1014.002. (in Chinese)
DI Q, ZHOU J Y, FANG K, et al. Global stabilization control of underactuated asymmetric autonomous underwater vehicles with model parameter uncertainties[J]. Acta Armamentarii, 2020, 41(5): 950-957. (in Chinese)
LI L Z, CHENG S S, FAN Y. Stabilization and tracking control of nonholonomic wheeled mobile robots based on time-varying functions[J]. Control and Decision, 2024, 39(9): 2932-2940. (in Chinese)
FANG K, YAO J Q, LI J W. Three-dimensional simultaneous tracking and stabilization control for underactuated underwater vehicles based on neural network[J]. Control Theory & Applications, 2021, 38(6): 731-738. (in Chinese)
YU M Y, LI Z K, WANG B H. Precise formation control of unmanned surface vessels based on fixed-time disturbance observer[J]. Control and Decision, 2023, 38(2): 379-387. (in Chinese)
DONG Z, ZHANG Z, QI S, et al. Autonomous cooperative formation control of underactuated USVs based on improved MPC in complex ocean environment[J]. Ocean Engineering, 2023, 270: 113633.
HUANG B, SONG S, ZHU C, et al. Finite-time distributed formation control for multiple unmanned surface vehicles with input saturation[J]. Ocean Engineering, 2021, 233: 109158.
CHEN Y, MA B. Global asymptotic full state formation control of underactuated surface ships with non-diagonal inertia/damping matrices[C]//Proceeding of the 11th World Congress on Intelligent Control and Automation. IEEE, 2014: 279-284.
WANG R, SI C L, MA H, et al. Event-triggered global asymptotic stabilization control of asymmetric underactuated surface vehicles[J]. Control Theory & Applications, 2021, 38(6): 748-756. (in Chinese)
DO K D. Practical formation control of multiple underactuated ships with limited sensing ranges[J]. Robotics and Autonomous Systems, 2011, 59(6): 457-471.
MAGHENEM M A, LORIA A, PANTELEY E. Cascades-based leader–follower formation tracking and stabilization of multiple nonholonomic vehicles[J]. IEEE Transactions on Automatic Control, 2019, 65(8): 3639-3646.
WANG B, ASHRAFIUON H, NERSESOV S. Leader–follower formation stabilization and tracking control for heterogeneous planar underactuated vehicle networks[J]. Systems & Control Letters, 2021, 156: 105008.
GAO S, PENG Z, LIU L, et al. Coordinated target tracking by multiple unmanned surface vehicles with communication delays based on a distributed event-triggered extended state observer[J]. Ocean Engineering, 2021, 227: 108283.
ZHANG Y, MA L, YANG C, et al. Formation control for multiple quadrotors under DoS attacks via singular perturbation[J]. IEEE Transactions on Aerospace and Electronic Systems, 2023, 59(4): 4753-4762.
LOU W, ZHU S, Qi Z, et al. Observer-based resilient consensus of multiagent systems with DoS attacks[C]//2023 Panda Forum on Power and Energy (PandaFPE). IEEE, 2023: 1052-1056.
KHODADADI S, TASOOJI T K, MARQUEZ H J. Observer-based secure control for vehicular platooning under DoS attacks[J]. IEEE Access, 2023, 11: 20542-20552.
MA Y, NING J, LI T, et al. Distributed extended state observer based formation tracking control of under-actuated unmanned surface vehicles with input and state quantization[J]. Ocean Engineering, 2024, 311: 118872.
HAO P W, FENG G C, LI J W. Leader-follower formation tracking control and stabilization of underactuated unmanned surface vessels via event-triggered mechanism [J]. IEEE Access, 2024, 12: 80359-80372.
WANG X Z, LI G F, CHANG Y N. Multi-vehicle formation control based on distributed extended state observer[J]. Journal of Shanghai Jiao Tong University, 2024, 58(11): 1798-1804. (in Chinese)
FREDRIKSEN E, PETTERSEN K Y. Global k-exponential way- point maneuvering of ships: Theory and experiments[J]. Automatica, 2006, 42(4): 677-687.
WANG C, LIN Y. Decentralized adaptive tracking control fora class of interconnected nonlinear time-varying systems[J]. Automatica, 2015, 54: 16-24.
LIU R, ZHANG W, ZHANG G, et al. Event-triggered train formation control of multiple autonomous surface vehicles in polar communication interference environment[J]. IEEE Transactions on Intelligent Transportation Systems, 2025, 26(3): 4080-4092.