Extended state observer-based fault-tolerant control for an unmanned surface vehicle under asynchronous injection and deception attacks

This paper explores the problem of fault-tolerant control concerning an underactuated unmanned surface vehicle affected by actuator faults and disturbances in the physical layer and multiple cyber threats (time-varying delays, injection attacks, and deception attacks) in the networked layer. Firstly, an extended state observer is designed to estimate the relative state and fault information by constructing the estimation error term based on the output information affected by injection attack and delay. Secondly, a novel fault-tolerant controller is designed to deal with random Bernoulli deception attacks and compensate for time-varying delay and actuator faults by using the estimated information and considering the probability dynamics of deception attacks. Assuming that dual-channel asynchronous independent injection and deception attacks occur on the sensor-to-observer and observer-to-controller channels. A sufficient condition for asymptotic stability of the unmanned surface vehicle is derived by using Lyapunov-Krasovskii functional within the co-design framework of fault estimation and fault-tolerant control, and ensured by eliminating the equality constraint. Finally, the efficacy of the proposed algorithm is assessed through simulations of the unmanned surface vehicle under two distinct scenarios: low forward speed and high forward speed.