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Resilient State Estimation for Control Systems Using Multiple Observers and Median Operation

Resilient State Estimation for Control Systems Using Multiple Observers and Median Operation
Jeon, H[Jeon, Heegyun]Aum, S[Aum, Sungmin]Shim, H[Shim, Hyungbo]Eun, Y[Eun, Yongsoon]
DGIST Authors
Jeon, H[Jeon, Heegyun]; Aum, S[Aum, Sungmin]; Eun, Y[Eun, Yongsoon]
Issue Date
Mathematical Problems in Engineering
Article Type
Computational EfficiencyComputationally EfficientEstimationLinear Control SystemsLinear Dynamic SystemMalicious AttackMultiple ObserversNon-Convex OptimizationProcess DisturbancesReal-Time ImplementationsReal Time ControlResilient SystemsState Estimation
This paper addresses the problem of state estimation for linear dynamic systems that is resilient against malicious attacks on sensors. By "resiliency" we mean the capability of correctly estimating the state despite external attacks. We propose a state estimation with a bank of observers combined through median operations and show that the proposed method is resilient in the sense that estimated states asymptotically converge to the true state despite attacks on sensors. In addition, the effect of sensor noise and process disturbance is also considered. For bounded sensor noise and process disturbance, the proposed method eliminates the effect of attack and achieves state estimation error within a bound proportional to those of sensor noise and disturbance. While existing methods are computationally heavy because online solution of nonconvex optimization is needed, the proposed approach is computationally efficient by using median operation in the place of the optimization. It should be pointed out that the proposed method requires the system states being observable with every sensor, which is not a necessary condition for the existing methods. From resilient system design point of view, however, this fact may not be critical because sensors can be chosen for resiliency in the design stage. The gained computational efficiency helps real-time implementation in practice. © 2016 Heegyun Jeon et al.
Hindawi Publishing Corporation
Related Researcher
  • Author Eun, Yongsoon DSC Lab(Dynamic Systems and Control Laboratory)
  • Research Interests Resilient control systems; Control systems with nonlinear sensors and actuators; Quasi-linear control systems; Intelligent transportation systems; Networked control systems
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Department of Information and Communication EngineeringDSC Lab(Dynamic Systems and Control Laboratory)1. Journal Articles

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