Secure State Estimation of Multiagent Systems With Homologous Attacks Using Average Consensus

Homologous signals widely exist in multiagent systems, e.g., temperature and wind power. Due to the limitation of the system hardware or other reasons, homologous attack signals also exist in the system. This study addresses the problem of security state estimation of multiagent systems affected by a homologous attack signal. To solve this problem, a two-loop observer combining the average consensus algorithm and the recursive algorithm is developed to simultaneously estimate the state and attack signal. One necessary and sufficient condition and several sufficient conditions for the observer being convergent are presented and proved. Furthermore, a generalized framework is presented for the security state estimation of multiagent system.