Event-sampled Automatic Berthing Control of Underactuated Vessels

Objectives The problem of event-sampled automatic berthing control for underactuated vessels with internal/external uncertainties and false data injection attacks in the sensor-controller channel is investigated. Methods Firstly, an underactuated vessel motion model with FDI attacks is rebuilt. The differential homeomorphism is used for equivalent transformation to solve the design problems caused by underactuated features. Then, the event-sampled mechanism is established with the vessel’s position and speed errors as triggered conditions. In the framework of the backstepping method, an auto-berthing controller of underactuated vessels is designed, and the Lyapunov-based stability theory proves the system's stability. Finally, the simulation experiments are carried out with the help of Simulink, and the rationality of control results is verified through the berthing trajectory, the vessel position deviation, and vessel velocities. Results The simulation results show that the auto-berthing control scheme based on an event-sampled mechanism is feasible and has a favorable control effect subjected to FDI attacks. Conclusions This strategy has good robustness and is more in line with practical engineering application requirements. It provides a new idea for further research on auto-berthing control of underactuated vessels in the network environment.