Resilient Control Based on Secure State Estimation for Autonomous Systems Under Cyberattacks

This article presents a cyber resilience strategy based on secure state estimation (SSE) to counter cyberattacks on autonomous systems. The proposed framework employs a cascade of nonlinear observers to estimate attacks targeting both sensors and actuators, deriving the operational conditions required for their effectiveness. These SSEs are integrated with identification algorithm and a control mitigation law designed using the direct Lyapunov method, ensuring the system's stability and integrity are maintained even under active attacks. The framework is validated through its implementation on an autonomous container truck. Experimental results demonstrate that the secure state estimators effectively preserve system stability and operational integrity, showcasing their potential to enhance the resilience of autonomous systems against cyber threats.