Underactuated Surface Vessels Trajectory Tracking Control Based on Concise Finite-Time Disturbance Observer Under False Data Injection Attacks

This paper studies the trajectory tracking control problem of underactuated surface vessels (USVs) under false data injection attacks (FDIAs). We propose a concise nonlinear finite-time disturbance observer (FTDO) to compensate composite disturbances caused by FDIAs and external disturbances. An online approximator is designed using adaptive techniques to compensate for the dynamic uncertainties of the system. In addition, we consider the limit of input saturation at the control input. Under the framework of the backstepping method, this paper designs a practical finite-time control (FTC) method and performs a rigorous theoretical analysis of it through the Lyapunov stability theory. Finally, the effectiveness of the proposed control scheme was verified through simulation. This research provides a feasible solution to the trajectory tracking problem of underactuated vessels in FDIAs environment and provides theoretical support for further research in related fields.