Dynamic Event-Based Affine Formation Maneuver Control for Multi-ASV Systems Under DoS Attacks

This article focuses on the affine formation control problem for multi-ASV (Autonomous Surface Vehicle) systems with quantized control inputs and an event-triggered communication mechanism under denial-of-service (DoS) attacks. The formation transformation can improve the flexibility of ASV formation and enable it to perform complex tasks. Since ASVs need to transmit measurement data via a wireless network, the performance of the system can be affected by DoS attacks and limited communication resources. The DoS attacks block the communication channel between ASVs and prevent the transmission of measurement data. To deal with these problems, a novel dynamic event-based affine formation control strategy is designed. Then, the stability of the system is analyzed. The sufficient conditions for ensuring system stability are provided, along with the tolerance for the duration of DoS attacks. Furthermore, it is proven that the event-triggered mechanism (ETM) has a positive lower bound for its triggering intervals. This ensures the absence of Zeno behavior and the feasibility of the proposed ETM. Finally, the effectiveness of the proposed control strategy is verified by numerical simulation.