Distributed filtering for nonlinear time-varying systems with Byzantine attacks and innovation constraints: A FlexRay scheduling mechanism

This paper focuses on the distributed filtering problem for a special type of time-varying systems undergoing stochastic nonlinearities, Byzantine attacks and innovation constraints within the finite-horizon l₂-l_∞ framework. Taking into account limited network resources, a FlexRay scheduling mechanism incorporating the Round-Robin and weighted try-once-discard protocols is deployed to orchestrate transmission behaviors between sensors and remote filters. A Byzantine attack model is introduced with which the Byzantine nodes falsify the measurements by injecting certain perturbations before sharing them with neighboring nodes. The main purpose of this study is to design a distributed filter for the considered system model such that a finite-horizon l₂-l_∞ performance is satisfied for the filtering error dynamics. By applying the stochastic analysis method, a sufficient condition is firstly derived to guarantee the existence of desired distributed filter that ensures the prescribed performance index, following which proper filter parameters are designed by solving a set of matrix inequalities. Subsequently, a recursive distributed filtering algorithm is presented, which is friendly for online implementation. Finally, a numerical example is carried out to illustrate the validity of the obtained theoretical results.