Patent ID: 11921505
Assignee: WUHAN UNIVERSITY OF TECHNOLOGY
Field: Control (Instruments)
Classification: CPC G  B  H | IPC B  G  H

Claim 0:
1. An unmanned surface vehicle control method based on a switchable Takagi-Sugeno (T-S) fuzzy control system under a denial of service (DoS) attack, comprising:
S1: establishing a motion mathematical model of an unmanned surface vehicle having an under-actuated system;
S2: linearizing the motion mathematical model by a T-S fuzzy method;
S3: adding external disturbance detected in a navigation process into the linearized motion mathematical model to establish an analysis model of the switchable T-S fuzzy control system under the DoS attack;
wherein the step S3 comprises:
S3.1: re-determining the switchable T-S fuzzy control system of the unmanned surface vehicle regarding the external disturbance based on the T-S fuzzy method;
S3.2: when no aperiodic DoS attack is detected, controlling the unmanned surface vehicle utilizing an actuator; and
S3.3: in combination with the re-determined switchable T-S fuzzy control system and the switchable T-S fuzzy control system determined under the DoS attack, obtaining the analysis model of the switchable T-S fuzzy control system under the DoS attack:, x
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S4: in response to the analysis model being under the DoS attack, designing an event-triggered mechanism and a T-S fuzzy H∞ controller under a discrete system; and
S5: analyzing stability of the switchable T-S fuzzy control system by piecewise Lyapunov functionals so as to verify a gain of the T-S fuzzy H∞ controller and a weight matrix of the event-triggered mechanism designed in step S4.