网络欺骗攻击下的智能船舶改进趋近律滑模轨迹跟踪控制

Improved reaching law sliding mode trajectory tracking control for intelligent ships under network spoofing attacks

针对网络欺骗攻击下的智能船舶轨迹跟踪控制问题,提出一种带观测器的改进趋近律滑模轨迹跟踪控制方案。利用伯努利分布生成随机二进制数来模拟网络欺骗攻击;通过设计观测器对攻击影响进行观测,并反馈补偿到控制器以抵抗攻击对系统产生的破坏;设计自适应律来应对环境扰动的影响,同时与观测器的互相协调进一步增强了系统鲁棒性;设计具有大误差迅速补偿及小误差平缓补偿效果的改进滑模趋近律,降低了传统滑模控制存在的抖震问题,提高了控制器控制效率;最后,运用Lyapunov稳定性理论验证系统整体的稳定性,利用Matlab进行对比仿真实验。结果表明,该控制方案可对攻击影响做出较快反应并给出较好的补偿,且轨迹跟踪误差可以较快收敛至零附近的极小有界区间,实现了网络攻击环境下的船舶轨迹跟踪。该方案可为船舶安全航行和海上装备的军事对抗等研究提供一定的参考。

Aiming at the problem of intelligent ship trajectory tracking control under network spoofing attacks,an improved reaching law sliding mode trajectory tracking control scheme with observer was proposed.Bernoulli distribution was used to generate random binary numbers to simulate network spoofing attacks.Observers were designed to observe the impact of at⁃tacks and feedback compensation to the controller to resist the damage caused by attacks on the system.Adaptive laws were designed to cope with the impact of environmental disturb⁃ances,while further enhancing system robustness through co⁃ordination with the observer.An improved sliding mode reac⁃hing law was designed with fast compensation for large errors and smooth compensation for small errors,which reduced the chattering problem of traditional sliding mode control and im⁃proved the control efficiency of the controller.Finally,the overall stability of the system was verified by using Lyapunov stability theory,and comparative simulation experiments were conducted by using Matlab.The results show that the proposed control scheme can respond quickly to the impact of attacks and provide good compensation,and the trajectory tracking error can quickly converge to a very small bounded interval near zero,and achieving ship trajectory tracking in a network attack environment.This plan can provide certain reference value for research on safe navigation of ships and military con⁃frontation of maritime equipment.