The tracking control problem of a network-based unmanned marine vehicle (UMV) system is investigated in this paper. The whole system consist of an UMV, a communication network and a ground-based control station. The measurement data collected by sensor is transmitted to the control station through communication network, and an adaptive event-triggering mechanism is introduced in this paper, which can greatly reduce the communication burden. Moreover, the aperiodic DoS attack is considered that occurs in the channel between the control station and the actuator, and no data can be transmitted when the attack occurs. The main goal is to design a Dynamic Output Feedback Control (DOFC) algorithm to track the given yaw velocity in presence of event-triggering mechanism and DoS attack. By constructing a specific Lyapunov function, the sufficient condition of global exponential stability of system with an expected $H_{\infty }$ disturbance attenuation index is given, and the controller gains can be obtained by solving some inequalities. Finally, the effectiveness of proposed control scheme is demonstrated by a simulation study on the networked UMV system.

本文研究了基于网络的无人机系统的跟踪控制问题。整个系统由一个UMV，一个通信网络和一个地面控制站组成。传感器采集的测量数据通过通信网络传输到控制站，并引入了自适应事件触发机制，可以大大减轻通信负担。此外，认为非周期性DoS攻击发生在控制站和执行器之间的通道中，并且在发生攻击时无法传输任何数据。主要目标是设计一种动态输出反馈控制（DOFC）算法，以在存在事件触发机制和DoS攻击的情况下跟踪给定的横摆速度。通过构造特定的Lyapunov函数，$H_{\infty }$给出了干扰衰减指数，并通过解决一些不等式获得了控制器增益。最后，通过对网络UMV系统的仿真研究证明了所提出控制方案的有效性。