Event-triggered Formation Control of Underactuated USVs under DoS Attacks

DING Yuqing; ZHANG Bo; LI Jiawang

doi:10.12382/bgxb.2025.0734

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Event-triggered Formation Control of Underactuated USVs under DoS Attacks

更新时间：2026-06-16

- Event-triggered Formation Control of Underactuated USVs under DoS Attacks
- Acta Armamentarii Vol. 47, Issue 5, Pages: 250734(2026)
- 作者机构：
  
  宁波大学海运学院，浙江宁波 315832
- 作者简介：
- 基金信息：
- DOI：10.12382/bgxb.2025.0734
  CLC： TJ301;TP273 +.2
- Received：13 August 2025，
  
  Online First：08 June 2026，
  
  Published：2026-05
- 稿件说明：
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DING Yuqing, ZHANG Bo, LI Jiawang. Event-triggered Formation Control of Underactuated USVs under DoS Attacks[J]. Acta Armamentarii, 2026, 47(5): 250734.
DOI：

DING Yuqing, ZHANG Bo, LI Jiawang. Event-triggered Formation Control of Underactuated USVs under DoS Attacks[J]. Acta Armamentarii, 2026, 47(5): 250734. DOI： 10.12382/bgxb.2025.0734.

摘要

针对拒绝服务（Denial-of-service，DoS）攻击下欠驱动无人艇编队控制问题，提出了一种基于事件触发控制机制的分布式领航-跟随编队控制策略。为解决DoS攻击下无人艇编队无法通信问题，设计了一种分布式状态观测器对虚拟领航者状态信息进行估计。为避免使用反步法所带来的控制器表达式复杂问题，提出一种新的误差变换方法，并通过引入辅助变量以解决欠驱动特性引起的控制难题。在此基础上，通过引入事件触发控制机制，设计了一种单一控制器形式以实现编队轨迹跟踪和编队镇定，避免了由于不同控制器频繁切换所引起的计算复杂和响应延迟问题，并通过理论分析证明了编队控制误差收敛至零点附近的有界范围内，且控制器不会发生Zeno行为。最后，通过对比仿真算例验证了该控制方法的有效性。

Abstract

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. To address communication failures in USV formations during DoS attacks，a distributed state observer is designed to estimate the virtual leader's state information. A novel error transformation method is introduced to circumvent the controller expression complexity of controller caused by the backstepping approaches，and the auxiliary variables are incorporated to resolve the control challenges induced by underactuation. Based on this framework，a unified controller structure is developed via event-triggered control to simultaneously achieve the formation trajectory tracking and stabilization. This eliminates the computational burdens and response delays caused by frequent controller switching. Theoretical analysis proves that the formation control errors converge to a bounded range near zero point，and the controller does not exhibit Zeno behavior. Finally，the effectiveness of the proposed method is validated by means of comparative simulations.

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references

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