Secure Formation Control for Unmanned Surface Vehicles Against False Data Injection Attacks

This paper studies the attack detection and controller design problem of unmanned surface vehicles (USVs) formation control against false data injection attacks (FDIAs). A novel topology switching strategy based on attack detection result is proposed to ensure the stability of vehicles which are not attacked, while the attack-detection-based formation controller is designed to ensure the stability of USVs under FDIAs. Finally, the simulation example is introduced to demonstrate the effectiveness of the proposed strategy and controller in preventing negative impact of the FDIAs on the USVs system.