This paper focuses on the problem of event-triggered fault detection for network-based unmanned surface vehicles (USVs) subject to network-induced delay, external disturbance, and cyber attacks. First, a novel adaptive event-triggered strategy is presented to relieve the bandwidth burden of the communication network while mitigating the impact of cyber attacks on the USV performance. Second, the network-induced communication delay is characterized as a distributed delay with a probability density function as its kernel. Third, to identify the time when the fault occurs, a fault detection filter (FDF) is designed to obtain a residual system. Based on the established framework, criteria for asymptotic stability analysis are derived via the Lyapunov–Krasovskii functional approach, and then the co-design of FDF and the event-triggered parameter matrix is given by the matrix transformation technique. Finally, simulation results are provided to substantiate the feasibility of the proposed approach.

中文翻译：

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用于无人驾驶地面车辆的自适应事件触发故障检测滤波器，抵御随机发生的注入攻击

本文重点研究受网络引起的延迟、外部干扰和网络攻击影响的基于网络的无人水面车辆（USV）的事件触发故障检测问题。首先，提出了一种新颖的自适应事件触发策略，以减轻通信网络的带宽负担，同时减轻网络攻击对USV性能的影响。其次，网络引起的通信延迟被表征为以概率密度函数为核的分布式延迟。第三，为了识别故障发生的时间，设计故障检测滤波器（FDF）以获得残差系统。基于所建立的框架，通过Lyapunov-Krasovskii泛函方法导出渐近稳定性分析的准则，然后通过矩阵变换技术给出FDF和事件触发参数矩阵的协同设计。最后，提供仿真结果来证实所提出方法的可行性。