This paper studies the trajectory tracking control problem of underactuated unmanned surface vessels (USVs) under the influence of internal and external uncertainties, actuator faults, and injection and deception attacks. In the control design, we separately designed virtual adaptive laws to compensate for the time-varying gains suffered by the kinematics channel and combined the event-triggered control (ETC) mechanism to establish an online approximator to compensate for the time-varying gains of the kinematics channels and the loss-of-effectiveness (LOE) and bias faults suffered by the system. Combining robust neural damping technology and finite-time disturbance observer (FTDO), the dynamic uncertainties and external disturbances are suppressed. Finally, a novel robust adaptive trajectory tracking control scheme is proposed. The scheme achieves active compensation for heterogeneous uncertainties including internal and external uncertainties, actuator faults, and attack signals. The Lyapunov stability theory analysis shows that all signals of the tracking system are bounded. The simulation results prove the effectiveness of this control scheme.
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