Dynamic Event-Triggering Security Control of T-S Fuzzy Model-Based Unmanned Marine Vehicles

—This letter investigates the event-triggering security control problem of unmanned marine vehicles (UMVs) in the presence of actuator failures, cyber attacks and wave-included disturbances. The Takagi-Sugeno fuzzy model is employed to represent the nonlinear UMV system through the utilization of IF-THEN rules and membership functions. The dynamic event-triggering control law is devised due to the limited resources in the networked control environment, while avoiding the Zeno phenomenon. A sufficient condition is proposed to ensure the system stability and the solution to the controller gain is given as well. After theoretical analysis, simulation experiments are conducted to validate the efficacy of the proposed method.