Finite-time H∞ control for USVs subject to DoS attacks: a chattering-free sliding mode control approach.

This paper studies the chattering-free sliding mode control problem for the discrete-time Markov jump unmanned surface vehicle systems under denial-of-service attacks. An event-triggered mechanism is employed to reduce the waste of energy and alleviate bandwidth restriction. In the sliding phase, an observer-based sliding mode surface and an equivalent control law are proposed to address the finite-time boundedness problem of the Markov jump unmanned surface vehicle systems. In the reaching phase, a chattering-free sliding mode controller is designed to ensure that the state trajectories of the Markov jump unmanned surface vehicle systems can be driven onto the sliding mode surface. With the help of Lyapunov functions, sufficient conditions are derived to guarantee the finite-time boundedness and the H ∞ performance of the switched Markov jump unmanned surface vehicle systems. In the simulation part, an application of the unmanned surface vehicle is utilized to verify the practicality of our proposed control method. [ABSTRACT FROM AUTHOR]