Distributed Affine Formation Security Control for Multiple AUVs With Deception Attacks

Abstract

This article addresses the distributed prescribed-time (PT) affine formation security control problem for multiple autonomous underwater vehicles (AUVs) under deception attacks (DAs). A distributed three-dimensional (3-D) resilient affine formation maneuver security control (RAFMSC) scheme is proposed to maintain the formation pattern and control the whole formation pattern to achieve flexible maneuvering transformations in the presence of DAs. First, a novel dual-level PT resilient estimation framework is proposed with two core components: PT distributed resilient formation maneuvering parameter estimators governing the leader formation trajectory and PT distributed resilient trajectory estimators managing the follower formation trajectory. Enabled by this framework, the maneuvering formation trajectory is accurately estimated online within a prescribed convergence time (PCT) despite DAs. Second, the novel adaptive PT integral sliding mode control (APTISMC) strategy is developed to guarantee that the formation trajectory tracking errors converge to zero synchronously in user-PCT. Finally, the high-fidelity simulations and lake trials are executed to demonstrate the effectiveness and advantages of the proposed control scheme.