Automatic Berthing Control Of Intelligent Transport Vessels Under Cyber-Attack Environment

In order to solve the key problems of automatic berthing control under the influence of FDI attack,external unknown time-varying disturbance,model dynamic uncertainty and input saturation in the network environment.The topic of this paper is " automatic berthing control of intelligent transport vessels under cyber-attack environment ".Comply with the development trend of ship intelligence,fully consider the actual needs of ship and sea engineering,and carry out systematic exploration and research.It is expected to provide theoretical and technical reference for the research of intelligent transport ship automatic control system,so as to further ensure the berthing security under the network attack environment and promote the development of ship automation.First of all,aiming at the problem of control signal mutation caused by additive FDI attacks,model uncertainty and unknown time-varying disturbances.The radial basis function(RBF)neural network technology is used to approximate the uncertainty of ship model on-line.The virtual parameter learning method is introduced to synthesize the additional terms caused by the additive FDI attack and the external time-varying interference into a compound parameter form,and the adaptive technique is used to estimate and compensate the virtual composite parameters on-line.In order to solve the problem of unnecessary occupation of communication resources caused by frequent updating of control instructions,an event trigger mechanism considering the input characteristics of the system is designed.The control scheme has excellent steady-state performance in the additive FDI attack environment,has a good instantaneous response to the sudden change of control instructions,reduces the transmission frequency of control instructions,and reduces the communication load and actuator wear.Then,on the basis of the above research,we further solve the problem of sudden change of control instructions caused by multiplicative coupled FDI attacks with stronger randomness and concealment,as well as the problem of system input saturation.A saturation parser is designed,which analytically strips the multiplicative attack factor with coupling characteristics into a general nonlinear form,and can effectively alleviate the influence of system input saturation.Aiming at the traditional sliding mode reaching law and the chattering problem caused by FDI attack,a new sliding mode reaching law based on hyperbolic tangent function is designed.In order to effectively alleviate the waste of communication resources,an event trigger mechanism is designed,which reduces the update times of the controller and slows down the wear of the actuator.Finally,the stability of the system is proved by Lyapunov stability theory.In this paper,simulation experiments are carried out by using Matlab/Simulink programming to verify the effectiveness of the designed berthing controller.This research has important practical significance to promote the development of ship automation,intelligence and network.