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Event-driving-based fault-tolerant control method under network attack of unmanned surface vehicle

An event-driven, fault-tolerant control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of high energy consumption in data transmission and large network bandwidth occupancy

Active Publication Date: 2019-12-17
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem of large network communication bandwidth occupancy rate and large energy consumption for data transmission in the existing surface unmanned vehicle system, and propose a fault-tolerant control method based on event-driven surface unmanned vehicle network attack

Method used

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specific Embodiment approach 1

[0029] Specific implementation mode 1: This implementation mode is based on the event-driven fault-tolerant control method under the network attack of the surface unmanned boat. The specific process is as follows:

[0030] Step 1. The motion coordinate system of the surface unmanned vehicle is as follows: figure 1 As shown, here we only consider the traversing, swinging and rolling motions of the surface unmanned vehicle.

[0031] According to the kinematic equation of the surface unmanned vehicle, the state space equation (formula 1) of the surface unmanned vehicle system is established;

[0032] Step 2. Based on the state space equation of the surface unmanned vehicle system established in step 1, random deception attacks are introduced, and a mathematical model (formula 3) of random deception attacks is established;

[0033] Step 3, based on the mathematical model of random spoofing attack established in step 2, establish the state space equation (formula 5) of the surfac...

specific Embodiment approach 2

[0038] Specific embodiment two: the difference between this embodiment and specific embodiment one is that in the step one, according to the kinematic equation of the surface unmanned vessel, the state space equation of the surface unmanned vessel system is established; the specific process is:

[0039] The motion coordinate system of the surface unmanned vehicle is as follows: figure 1 As shown, the kinematics equation of the surface unmanned vehicle is established, and only the lateral movement, swing and roll motion of the surface unmanned vehicle are considered here;

[0040]

[0041] According to the kinematic equation of the surface unmanned vehicle, the state space equation of the surface unmanned vehicle system is established, and the expression is:

[0042]

[0043] In the formula, x(t)=[υ(t) r(t )ψ(t) p(t) φ(t)] T is the current state of the USV system;

[0044] Among them, υ(t) is the traverse velocity generated by the rudder of the surface unmanned boat, r...

specific Embodiment approach 3

[0060] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is that the system matrix A, B, and E of the surface unmanned vehicle are expressed as follows:

[0061]

[0062] Other steps and parameters are the same as those in Embodiment 1 or 2.

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Abstract

The invention discloses an event-driving-based fault-tolerant control method under network attack of an unmanned surface vehicle and relates to a fault-tolerant control method under the network attackof an unmanned surface vehicle, thereby solving problems of high network communication bandwidth occupancy rate and high data transmission energy consumption in the existing unmanned surface vehiclesystem. The method comprises the following steps: step one, establishing a state space equation of an unmanned surface vehicle system according to a kinematics equation of the unmanned surface vehicle; step two, introducing a random spoofing attack based on the state-space equation of the unmanned surface vehicle system and establishing a mathematical model of the random spoofing attack; step three, establishing a state space equation of the unmanned surface vehicle system with the spoofing attack introduced according to the mathematical model of the random spoofing attack; step four, designing a fault-tolerant controller gain matrix based on dynamic event driving; and step five5, designing a dynamic event driving mechanism based on the dynamic-event-driving-based fault-tolerant controllergain matrix. The method is used for fault-tolerant control under the network attack of the unmanned surface vehicle.

Description

technical field [0001] The invention relates to a fault-tolerant control method under network attack of an unmanned surface vehicle (USV). Background technique [0002] Unmanned Surface Vehicle is a kind of unmanned surface ship, which is mainly used to perform tasks that are dangerous and not suitable for manned ships. Once equipped with advanced control systems, sensor systems, communication systems and weapon systems, it can perform a variety of tasks, and has played an increasingly important role in both military and civilian fields. Reliability is an important indicator of the surface unmanned vehicle in the process of performing tasks. The data exchange between the mothership and the unmanned surface vehicle is through the network, and the spoofing attack is the most common and dangerous attack in network security. The spoofing attack will tamper with the data of the sensor or controller during the network transmission process, and damage the integrity of the data. i...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 费中阳杨柳陈伟重王旭东刘鑫宇
Owner HARBIN INST OF TECH
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