Finite-time fuzzy cooperative control for multi-AUV systems under cyber-attacks with hybrid unknown nonlinearities

Abstract

In this paper, we investigate the fuzzy cooperative control and collision-free problems of discrete-time multiple autonomous underwater vehicles (AUVs) systems subject to unknown nonlinearities and constrained communication under cyber-attacks. A cooperative controller composed of three components is proposed for each AUV follower. The first component maneuvers the position and velocity for tracking desired signals by the feedback information. The repulsion part protects the AUV from collision with environmental obstacles or other vehicles. The remaining nonlinearities compensation term is employed to compensate for the system’s nonlinearities. Notably, the fuzzy logic systems (FLSs) approximate the hybrid unknown term constituted by external disturbances, unmodelled dynamics and deceptive signals. Then, the unknown terms identification and cooperative control problems are transformed into an error system stability problem. Inequality conditions for finite-time bounded error signals are presented through stability analysis. Also, it is theoretically proven that the cooperative control objective with collision avoidance can be accomplished by using suitable controller parameters. Lastly, the simulation results demonstrate the effectiveness of the complete control framework. Comparisons of various scenarios also affirm the significance of the FLSs and repulsion control for the multi-AUV cooperative control system.