Secure State Estimation for Multiagent Systems With Faulty and Malicious Agents

• Published in: IEEE transactions on automatic control Vol. 65; no. 8; pp. 3471 - 3485
• Main Authors: Lu, An-Yang, Yang, Guang-Hong
• Format: Journal Article
• Language: English
• Published: New York IEEE 01-08-2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Computer simulation; Cyber-physical systems; Faulty and malicious agents; misbehaving agents; Multi-agent systems; Multiagent systems; Nickel; Observability; Observability (systems); Resilience; secure state estimation; State estimation; static batch optimization; switched gradient descent (SGD) algorithm; Switches
• ISSN: 0018-9286; 1558-2523
• DOI: 10.1109/TAC.2019.2945032

This paper investigates the secure state estimation problem of multiagent systems with misbehaving agents. Compared with the existing works which only consider malicious behaviors generated elaborately, a class of faulty behaviors generated randomly is also taken into account. By assuming that faulty behaviors cannot be altered by the adversaries, the notion of orthogonal complement matrix is introduced to characterize the state observability of the multiagent systems with both faulty and malicious agents. It is shown that more misbehaving agents can be tolerated by distinguishing faulty agents from malicious ones. Then, for single agent, two algorithms are provided to estimate the state based on its own value and the measurements obtained from its neighbors. Finally, two simulations are provided to illustrate the correctness and effectiveness of the proposed conditions and methods.