Attack-resistant distributed formation control for multiple unmanned surface vessels subject to output constraints

This paper investigates distributed formation control problem of multiple unmanned surface vessels (USVs) with directed communication networks. Several practical factors are taken into consideration, including the dynamic uncertainty of and prescribed output constraints imposed on each USV, as well as deception attacks against communication networks. Firstly, a new construction of formation error is proposed, which can be combined with any conventional controller to handle the output constraint problem of distributed systems without using leader observers and additional initial conditions. Importantly, this output constraint solution is also effective in situations where interactive information is tampered with due to deception attacks. Subsequently, based on the backstepping method and Lyapunov theory, a non-singular finite-time quantized controller is proposed by indirectly using fuzzy logic systems. The proposed controller achieves a proper balance between ensuring control performance and saving control resources. Finally, a comprehensive system stability analysis and numerical simulation are presented.