Resilient Model Predictive Control for Trajectory Tracking of Uncrewed Underwater Vehicles under DoS Attacks and Disturbances

This paper presents a resilient disturbance compensating model predictive control (RDCMPC) strategy for the trajectory tracking of uncrewed underwater vehicles (UUVs) under external disturbances and denial-of-service (DoS) attacks between the controller and the actuator (C-A) communication channel. By fully utilizing the prediction feature, a packet transmission strategy is designed to mitigate DoS attacks’ adverse effects. Additionally, to effectively handle external disturbances, a disturbance compensation method is incorporated into the MPC framework. Comprehensive simulation results validate the effectiveness and robustness of the proposed method in the presence of communication disruptions and external disturbances.