Finite-Time $\mathcal {H}_{\infty }$ Event-Triggered SMC for T–S Fuzzy UMVs Under Aperiodic DoS Attacks

This article concentrates on the sliding mode control (SMC) problem of nonlinear unmanned marine vehicles (UMVs) over a finite time horizon. In view of the nonlinearity and variability of the marine environment, the UMVs are characterized by the Takagi-Sugeno (T-S) fuzzy system. To improve the utilization of network resources, a novel adaptive event-triggered protocol is proposed. This protocol can dynamically adjust the threshold parameters in response to denial-of-service (DoS) attacks. An integral sliding mode controller is designed, which can achieve the ideal sliding mode within any given brief time interval. Through the Lyapunov theory, sufficient conditions for finite-time $\mathcal {H}_{\infty }$ control are given. Compared with existing results, our method presents more robust performance and faster convergence rates. Finally, simulations are presented to confirm the feasibility and effectiveness of the proposed method.