Predefined-Time Control for Unmanned Surface Vehicles with Actuator Attacks Based on Fully Actuated System Approaches

Unmanned surface vehicles (USVs) face increased control challenges due to environmental disturbances, bank effects, and actuator attacks during navigation. To address this issue, a robust adaptive control strategy based on the fully actuated system approaches is proposed for a USV system model with unknown external disturbances, model uncertainties, and actuator attacks. The proposed method not only mitigates the effects of unknown nonlinear disturbances and actuator attacks but also self-adjusts to accommodate system uncertainties, thereby enhancing USV control accuracy. Additionally, a tunable predefined-time scheme is introduced to ensure that the USV can stably track the desired trajectory within a predefined time. The effectiveness of the designed controller is verified through simulations.