Adaptive Robust Anti-disturbance Synchronization for Leader-follower Ships under Cyber-attacks

This paper investigates the synchronization control problem of follower ship during underway replenishment. Solving the problem of the time-varying gain caused by cyber-attacks and disturbance compensation is the key to ensure safe synchronization of follower ship. Firstly, the disturbance observer is designed to provide time-varying disturbance estimates in the ocean, and the adaptive law is constructed to update the unknown control parameters in real time. Secondly, the anti-disturbance tracking controller for synchronization is designed by combining the disturbance observer with the vector backstepping technique. Finally, simulations are conducted on a 1:70 scale model ship. The results show that the anti-disturbance tracking controller can realize the synchronization navigation between the follower ship and the leader ship, and all signals in the closed-loop synchronization tracking control system are global uniform ultimate boundedness.