Figure4

From: Extended state observer-based fault-tolerant control for an unmanned surface vehicle under asynchronous injection and deception attacks

Extended state observer-based fault-tolerant control for an unmanned surface vehicle under asynchronous injection and deception attacks

Figure 4. The state response $$ x(t) $$ to noise-type actuator faults, disturbances, time-varying delays and constant injection attacks under two scenarios.

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