Lyapunov matrix-based adaptive resilient control for unmanned marine vehicles with sensor and thruster attacks

This paper presents the design of a Lyapunov matrix-based adaptive resilient controller for unmanned marine vehicles (UMVs) under state-dependent sensor attacks, input-dependent thruster attacks, and time delays. Different from the thruster attack model that depends on state information, the thruster attack model studied in this paper is related to control input, that is, the input-dependent thruster attacks. This implies that the designed correction signal is also affected by the attacks. To mitigate the impact of the considered sensor attacks and thruster attacks on UMVs, an adaptive mechanism is employed to estimate the attack factors. Furthermore, a Lyapunov matrix-based complete-type Lyapunov–Krasovskii functional (LKF) is introduced, in which more comprehensive time delay information are considered. Based on this, linear matrix inequality (LMI) method and Jensen’s inequality are used to obtain sufficient conditions for the existence of the controller. The proposed controller guarantees that the state errors of UMVs converge asymptotically to zero with the adaptive $H_{\infty }$ performance index no larger than ${\gamma }_0$. Finally, the efficacy of the proposed approach is verified by simulation results.