Towards Zonotopic Replay Attack Detection for Unmanned Surface Vehicles

This work is concerned with the problem of replay attack detection for unmanned surface vehicles subject to bounded perturbations. A novel zonotopic noisy control input is designed to reveal the signature of replay attacks. The resulting performances of control loss and detection increased are characterized as the size of a steady-state set and a measurement deviation set, respectively. Sufficient conditions for optimizing the detection while guaranteeing a prescribed level of control performance are formulated as a Lyapunov equation. Simulation results demonstrate the validity and viability of the proposed method.