Asynchronous thruster fault detection for unmanned marine vehicles under multiple attacks

This paper concentrates on asynchronous thruster fault detection for unmanned marine vehicles (UMVs) under multiple cyber attacks, external disturbances and thruster fault. A novel model of multiple attacks is constructed using an asynchronous switched method by considering aperiodic denial-of-service (DoS) attacks and stochastic false data injection (FDI) attacks. Subsequently, by employing the Lyapunov-Krasovskii functional approach and model-dependent average dwell time, a set of sufficient conditions is derived to ensure that the system achieves global mean-square exponential stability with a prescribed \({H_\infty }\) $H_{\infty }$ performance. Furthermore, the tolerable upper and lower bounds for constrained DoS attacks are determined. Solvable conditions for the designed fault detection filters are then obtained through the application of decoupling techniques. Finally, simulations conducted on a UMV validate the feasibility and effectiveness of the proposed methods.