Online Secure State Estimation of Multiagent Systems Using Average Consensus
针对同源攻击下的异构多智能体系统，提出一种三重环观测器，通过平均一致性、残差信息和测量变化实现状态与攻击信号的在线同步估计，并在GPS系统上验证了渐近收敛性。
Secure state estimation (SSE) is a problem to defense false-data injection attacks. This study designs an online distributed SSE of heterogeneous multiagent systems under homologous attack. A triple-loop observer is proposed to estimate the state and attack signal simultaneously. The inner loop keeps the estimations of the attack signal the same using average consensus. The middle loop adjusts the estimations via residual information. The outer loop runs when system measurements change. A sufficient condition that estimations asymptotically converge to the real value is obtained and proved. Finally, the proposed observer has been tested on the global positioning system.