Detection of Sensor Attack and Resilient State Estimation for Uniformly Observable Nonlinear Systems having Redundant Sensors

Kim, Junsoo; Lee, Chanhwa; Shim, Hyungbo; Eun, Yongsoon; Seo, Jae Hwa

doi:10.1109/tac.2018.2840819

Cited by 62 publications

(40 citation statements)

References 23 publications

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“…. Then, one can show that (7) still holds withĀ = √P WAV √P −1 , which satisfies A +Ā T ≤ 0. Now, the rest of the proof proceeds similarly to the proof of Theorem 2.…”

Section: Special Case: Lyapunov Stable Systemmentioning

confidence: 99%

Fully Distributed Resilient State Estimation Based on Distributed Median Solver

Lee

Kim

Shim

2020

IEEE Trans. Automat. Contr.

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In this paper, we present a scheme of fully distributed resilient state estimation for linear dynamical systems under sensor attacks. The proposed state observer consists of a network of local observers, where each of them utilizes local measurements and information transmitted from the neighbors. As a fully distributed scheme, it does not necessarily collect a majority of sensing data for the sake of attack identification, while the compromised sensors are eventually identified by the distributed network and excluded from the observers. For this, the overall network (not the individual local observer) is assumed to have redundant sensors and assumed to be connected. The proposed scheme is based on a novel design of a distributed median solver, which approximately recovers the median value of local estimates.

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“…. Then, one can show that (7) still holds withĀ = √P WAV √P −1 , which satisfies A +Ā T ≤ 0. Now, the rest of the proof proceeds similarly to the proof of Theorem 2.…”

Section: Special Case: Lyapunov Stable Systemmentioning

confidence: 99%

Fully Distributed Resilient State Estimation Based on Distributed Median Solver

Lee

Kim

Shim

2020

IEEE Trans. Automat. Contr.

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“…We then use (9) to rewrite the bound u ≤ u max as a 2 r p n 2 + a 2 t p n 2 ≤ u 2 max , and form the Lagrangian by adjoining the Hamiltonian with the considered state constraint:…”

Section: Design Of Optimal Undetectable Attacksmentioning

confidence: 99%

Secure trajectory planning against undetectable spoofing attacks

2020

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This paper studies, for the first time, the trajectory planning problem in adversarial environments, where the objective is to design the trajectory of a robot to reach a desired final state despite the unknown and arbitrary action of an attacker. In particular, we consider a robot moving in a two-dimensional space and equipped with two sensors, namely, a Global Navigation Satellite System (GNSS) sensor and a Radio Signal Strength Indicator (RSSI) sensor. The attacker can arbitrarily spoof the readings of the GNSS sensor and the robot control input so as to maximally deviate its trajectory from the nominal precomputed path. We derive explicit and constructive conditions for the existence of undetectable attacks, through which the attacker deviates the robot trajectory in a stealthy way. Conversely, we characterize the existence of secure trajectories, which guarantee that the robot either moves along the nominal trajectory or that the attack remains detectable. We show that secure trajectories can only exist between a subset of states, and provide a numerical mechanism to compute them. We illustrate our findings through several numerical studies, and discuss that our methods are applicable to different models of robot dynamics, including unicycles. More generally, our results show how control design affects security in systems with nonlinear dynamics.

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“…e anomaly detector can be combined with (5) and consists of a full state observer [24,28], a residue signal monitoring system, and an alarm system, which is represented by…”

Section: Assumptionmentioning

confidence: 99%

“…It should be noted that the security problem of the nonlinear dynamical systems has been rarely discussed in [23][24][25], while most of the systems have the nonlinearity. e problem of the attack detection and isolation for a class of discrete time nonlinear systems under sensor attack was addressed in [23].…”

Section: Introductionmentioning

confidence: 99%

“…e problem of the attack detection and isolation for a class of discrete time nonlinear systems under sensor attack was addressed in [23]. e paper of Kim et al [24] presented a detection method for the sensor attack and developed a resilient state estimation algorithm for uniformly observable nonlinear systems. e authors in [25] considered the sampled data consensus problem for a class of nonlinear multiagent systems under cyber attack.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Multiplicative Coordinated Stealthy Attack for Nonlinear Cyber‐Physical Systems with Homogeneous Property

Lee

Eun

2019

Mathematical Problems in Engineering

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Stealthy attacks to cyber-physical systems (CPS) refer to the ones that avoid attack detection mechanisms augmented to the systems typically in the form of anomaly detectors. Various types of stealthy attacks have been reported in the literature. Among the attacks with stealthy property, a recently reported multiplicative coordinated attack is particularly dangerous in that it corrupts sensor and actuator data in a coordinated manner, and it does not require precise system knowledge in order to be stealthy. It must be noted that most of these attacks are applicable to CPS, the physical counterparts of which are of linear dynamics. This could be a limitation since most of the physical dynamic systems that are encountered from CPS perspective are of nonlinear nature. In this work, we present a version of multiplicative coordinated stealthy attack for a class of CPS, the physical counterpart of which possesses nonlinear dynamics. Specifically, for the physical systems with homogeneous property, the attack is constructed and the effect is analyzed. Various simulations are carried out to illustrate the effect of the attack.

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Detection of Sensor Attack and Resilient State Estimation for Uniformly Observable Nonlinear Systems having Redundant Sensors

Cited by 62 publications

References 23 publications

Fully Distributed Resilient State Estimation Based on Distributed Median Solver

Fully Distributed Resilient State Estimation Based on Distributed Median Solver

Secure trajectory planning against undetectable spoofing attacks

A Multiplicative Coordinated Stealthy Attack for Nonlinear Cyber‐Physical Systems with Homogeneous Property

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