This paper studies the network security control problem of underactuated unmanned surface vessels (USVs) affected by injection and deception attacks and proposes a novel finite-time PID (FT-PID) control method. To solve the problem of lateral drive mismatch of underactuated vessels, the heading harmonized dynamic control method (HHDCM) is used to utilize the characteristics of the arctangent function to closely combine the motion control with the geometric direction. Then, all uncertain dynamics in the system are converted into the form of neural single-parameter learning, and the kinematic channel and dynamics channel control mechanisms are given the function of high-speed self-adjusting control gain by constructing a dynamic error integrated variable (DEIV). To reduce the network communication load and improve data security, a novel event-triggered control (ETC) approach is constructed by introducing a variable that describes the internal characteristics of the measurement error. Stability analysis based on Lyapunov theory shows that the proposed FT-PID control mechanism can ensure that all signals in the underactuated USV closed-loop system are bounded. Finally, the effectiveness of the control scheme is verified through simulation.
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