Distributed Secure State Estimation and Attack Detection for Dynamical Systems With Attacks on a Time-Varying Sensor Set

This article investigates the distributed secure state estimation problem for a heterogeneous sensor network monitoring a dynamical system while under false-data injection attacks. Different from existing literature, the attacker is capable of corrupting a time-varying subset of sensors and altering their measurements. Based on the upper bound estimation technique, a novel distributed secure estimation method is proposed, which can provide an upper bound for estimation error and detect compromised sensors. The sufficient condition for the boundedness of the estimation error is provided and the feasibility of the estimator is further analyzed. Simulations are provided to demonstrate the effectiveness of the proposed estimator.