Distributed control under compromised measurements: Resilient estimation, attack detection, and vehicle platooning

We study how to design a secure observer-based distributed controller such that group of vehicles can achieve accurate state estimates and formation control even if the measurements subset vehicle sensors are compromised by malicious attacker. propose an architecture consisting resilient observer, attack detector, controller. The detector is able update three sets sensors: ones surely under attack, attack-free, suspected be attack. adaptive observer saturates measurement innovation through preset static or time-varying threshold, potentially have limited influence on estimation. Essential properties proposed include: (1) fault-free, attacked attack-free identified in finite time; (2) guarantees both real-time error bounds asymptotic bounds, with tighter when more detector; (3) ensures closed-loop stability. effectiveness methods evaluated simulations application platooning.