A Robust Circle-Criterion Observer-Based Estimator for Discrete-Time Nonlinear Systems in the Presence of Sensor Attacks

Tianci Yang1, Carlos Murguia2, Margreta Kuijper1, Dragan Nesic1

  • 1University of Melbourne
  • 2Singapore University of Technology and Design



Regular Session


10:00 - 12:00 | Mon 17 Dec | Splash 7-8 | MoA16

Observers for Nonlinear Systems I

Full Text


We address the problem of robust state estimation and attack isolation for a class of discrete-time nonlinear systems with positive-slope nonlinearities under (potentially unbounded) sensor attacks and measurement noise. We consider the case when a subset of sensors is subject to additive false data injection attacks. Using a bank of circle-criterion observers, each observer leading to an Input-to-State Stable (ISS) estimation error, we propose a estimator that provides robust estimates of the system state in spite of sensor attacks and measurement noise; and an algorithm for detecting and isolating sensor attacks. Our results make use of the ISS property of the observers to check whether the trajectories of observers are “consistent” with the attack-free trajectories of the system. Simulations results are presented to illustrate the performance of the results.

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