论文标题
在受损测量值下的分布式控制：弹性估计，攻击检测和车辆排
Distributed control under compromised measurements:Resilient estimation, attack detection, and vehicle platooning
论文作者
论文摘要
我们研究如何设计基于安全的观察者的分布式控制器，以便一组车辆可以实现准确的状态估计和形成控制，即使车辆传感器子集的测量值受到恶意攻击者的损害。我们提出了一个由弹性观察者，攻击检测器和基于观察者的分布式控制器组成的架构。分布式检测器能够更新三组车辆传感器：肯定会受到攻击，肯定无攻击，并怀疑受到攻击。自适应观察者通过预设的静态或随时间变化的阈值饱和测量创新，因此潜在的损害测量值对估计的影响有限。所提出的架构的基本特性包括：1）检测器无故障，可以在有限的时间内确定受攻击和无攻击的车辆传感器； 2）观察者确保实时误差界限和渐近误差边界，当检测器确定更多攻击或无攻击的车辆传感器时，范围更紧密； 3）分布式控制器确保闭环稳定性。通过将车辆排在车辆排的应用来评估所提出方法的有效性。
We study how to design a secure observer-based distributed controller such that a group of vehicles can achieve accurate state estimates and formation control even if the measurements of a subset of vehicle sensors are compromised by a malicious attacker. We propose an architecture consisting of a resilient observer, an attack detector, and an observer-based distributed controller. The distributed detector is able to update three sets of vehicle sensors: the ones surely under attack, surely attack-free, and suspected to be under attack. The adaptive observer saturates the measurement innovation through a preset static or time-varying threshold, such that the potentially compromised measurements have limited influence on the estimation. Essential properties of the proposed architecture include: 1) The detector is fault-free, and the attacked and attack-free vehicle sensors can be identified in finite time; 2) The observer guarantees both real-time error bounds and asymptotic error bounds, with tighter bounds when more attacked or attack-free vehicle sensors are identified by the detector; 3) The distributed controller ensures closed-loop stability. The effectiveness of the proposed methods is evaluated through simulations by an application to vehicle platooning.
