ADP-based secure trajectory tracking for unmanned surface vehicles with false data injections

Abstract

To suppress false data injection (FDI) attacks, a back-stepping (BS) control with the compensator of game approximate dynamic programming (GADP) (BS-GADP) is proposed to securely track trajectory for unmanned surface vehicle (USV). Firstly, a nonlinear parameter-varying (NPV) model with FDI is established for USV. Secondly, approximate dynamic programming (ADP) based virtual guidance law (VGL) is proposed with an equivalent VGL (EVGL) and a compensatory VGL (CVGL) by ADP to reduce the guidance cost. Thirdly, GADP compensator is proposed to improve the BS controller by the uniformly ultimately bounded (UUB) stability conditions, which is derived by the Lyapunov function of dynamic error for the affection of FDI. Moreover, GADP compensator is implemented by zero-sum game value iterative (ZSG-VI) algorithm. Finally, simulations and experiments show that BS-GADP system performance excels in resisting FDI for secure trajectory tracking.