Intermediate-Variable-Based Secure H∞ Fusion Estimation under Dual-Channel FDI Attacks

Abstract

This paper investigates the secure H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> fusion estimation (SHFE) problem for a class of cyber-physical systems (CPSs) under false data injection (FDI) attacks. The control messages received by the actuator, and the measurements sent by the local sensors are both compromised by the malicious adversary. The local intermediate estimators are designed to reconstruct states and FDI attacks, and the estimation gains can be obtained by establishing a convex optimization problem that can be solved with standard software packages. Moreover, the corresponding secure H <inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</inf> fusion structure is constructed to improve the estimation performance of system states and actuator attacks with the proposed optimal weighting fusion rules. Finally, a maneuvering vehicle example is utilized to demonstrate the effectiveness of the proposed methods.