Robust adaptive finite-time course tracking control of vessel under actuator attacks

This paper studies the course tracking control problem of unmanned surface vessels under the influence of uncertain dynamics, external unknown disturbances, constraints, and actuator attacks. In the design of the control scheme, adaptive technology is applied to approach the uncertain dynamics of the system, and a nonlinear finite-time disturbance observer is established to reconstruct the actuator attack signal and the unknown time-varying disturbances online. Combining disturbance compensation and adaptive technology, a finite-time course tracking control scheme is designed. The control scheme does not need to obtain the prior knowledge of the model in advance, and it has good robustness in the face of uncertain dynamics within the system, external disturbances, and actuator attacks. A rigorous stability analysis is provided for the control scheme based on the Lyapunov stability theory. Finally, the simulation shows that the proposed control scheme can effectively resist the influence of actuator attacks and external uncertain disturbances.