2.765

2022影响因子

(CJCR)

  • 中文核心
  • EI
  • 中国科技核心
  • Scopus
  • CSCD
  • 英国科学文摘

留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

扩展卡尔曼滤波在受到恶意攻击系统中的状态估计

周雪 张皓 王祝萍

周雪, 张皓, 王祝萍. 扩展卡尔曼滤波在受到恶意攻击系统中的状态估计. 自动化学报, 2020, 46(1): 38-46. doi: 10.16383/j.aas.c170609
引用本文: 周雪, 张皓, 王祝萍. 扩展卡尔曼滤波在受到恶意攻击系统中的状态估计. 自动化学报, 2020, 46(1): 38-46. doi: 10.16383/j.aas.c170609
ZHOU Xue, ZHANG Hao, WANG Zhu-Ping. Extended Kalman Filtering in State Estimation Systems With Malicious Attacks. ACTA AUTOMATICA SINICA, 2020, 46(1): 38-46. doi: 10.16383/j.aas.c170609
Citation: ZHOU Xue, ZHANG Hao, WANG Zhu-Ping. Extended Kalman Filtering in State Estimation Systems With Malicious Attacks. ACTA AUTOMATICA SINICA, 2020, 46(1): 38-46. doi: 10.16383/j.aas.c170609

扩展卡尔曼滤波在受到恶意攻击系统中的状态估计

doi: 10.16383/j.aas.c170609
基金项目: 

国家自然科学基金 61922063

国家自然科学基金 61773289

上海自然科学基金 17ZR1445800

上海自然科学基金 19ZR1461400

上海曙光计划 18SG18

详细信息
    作者简介:

    周雪   同济大学控制科学与工程系研究生.2016年获得合肥工业大学自动化专业学士学位.主要研究方向为无线传感器网络. E-mail: 1631560@tongji.edu.cn

    王祝萍  同济大学电子与信息工程学院教授.1994年和1997年获得西北工业大学自动控制学院学士学位与硕士学位.2003年获得新加坡国立大学博士学位.主要研究方向为机器人智能控制, 自动驾驶, 非完整性控制系统. E-mail: elewzp@tongji.edu.cn

    通讯作者:

    张皓   同济大学电子与信息工程学院教授.2007年获得华中科技大学控制科学与工程博士学位.2001年获得武汉科技大学学士学位.主要研究方向为网络控制系统, 多智能体系统, 复杂系统.本文通信作者. E-mail: 07102@tongji.edu.cn

Extended Kalman Filtering in State Estimation Systems With Malicious Attacks

Funds: 

National Natural Science Foundation of China 61922063

National Natural Science Foundation of China 61773289

Shanghai Natural Science Foundation 17ZR1445800

Shanghai Natural Science Foundation 19ZR1461400

Shanghai Shuguang Project 18SG18

More Information
    Author Bio:

    ZHOU Xue  Master student in the Department of Control Science and Engineering, Tongji University. She received her bachelor degree in automation from Hefei University of Technology in 2016. Her research interest covers wireless sensor networks

    WANG Zhu-Ping   Professor at the School of Electronics and Information Engineering, Tongji University. She received her Ph. D. degree in National University of Singapore in 2003, and received her bachelor and master degree from the Department of Automatic Control Northwestern Polytechnic University in 1994 and 1997, respectively. Her research interest covers intelligent control of robotic systems, selfdriving vehicles, and nonholonomic control systems

    Corresponding author: ZHANG Hao   Professor at the School of Electronics and Information Engineering, Tongji University. She received her Ph. D. degree in control theory and control engineering from Huazhong University of Science and Technology in 2007 and received her bachelor degree in automatic control from Wuhan University of Technology in 2001. Her research interest covers network based control systems, multi-agent systems, and complex networks. Corresponding author of this paper
  • 摘要: 设计了一种分布式扩展卡尔曼滤波器(Extended Kalman filter, EKF), 对非线性目标状态进行估计.在设计过程中, 对滤波误差上界进行优化, 获得了最优滤波增益.此外, 在通信过程中, 考虑恶意攻击信号的同时引入了分布式事件触发机制, 使得系统在保持一定的估计精度的情况下节省通信资源.最后, 以室内的机器人定位问题为例, 验证了提出的滤波器的有效性.
    Recommended by Associate Editor ZHANG Jun-Ping
    1)  本文责任编委 张军平
  • 图  1  带有事件触发的滤波网络攻击示意图

    Fig.  1  The diagram of attacks on an event-based filtering network

    图  2  摄像头分布拓扑图

    Fig.  2  The topology of the camera

    图  3  欺骗攻击示意图

    Fig.  3  The diagram of deception attacks

    图  4  对$p_{i, k}$的估计效果

    Fig.  4  The estimation performance of $p_{i, k}$

    图  5  对$q_{i, k}$的估计效果

    Fig.  5  The estimation performance of $q_{i, k}$

    图  6  8个传感器的滤波误差

    Fig.  6  The estimation error of 8 sensors

    图  7  事件触发示意图

    Fig.  7  The diagram of event-trigger

    表  1  不同$\bar{\pmb{\vartheta}}_{i, k}$对应的RMSE

    Table  1  RMSE corresponding to different $\bar{\pmb{\vartheta}}_{i, k}$

    $\bar{\pmb{\vartheta}}_{i, k}$ 5 7 9 11 13 15
    RMSE 0.2 0.25 1.38 8.75 15.59
    下载: 导出CSV
  • [1] Wu L G, Shi P, Gao H J. State estimation and sliding-mode control of Markovian jump singular systems. IEEE Transactions on Automatic Control, 2010, 55(5): 1213-1219 doi: 10.1109/TAC.2010.2042234
    [2] 王长城, 戚国庆, 李银伢, 盛安东.传感器网络一致性分布式滤波算法.控制理论与应用, 2012, 29(12): 1645-1650 http://d.old.wanfangdata.com.cn/Periodical/kzllyyy201212019

    Wang Chang-Cheng, Qi Guo-Qing, Li Yin-Ya, Sheng An-Dong. Consensus-based distributed filtering algorithm in sensor networks. Control Theory & Applications, 2012, 29(12): 1645-1650 http://d.old.wanfangdata.com.cn/Periodical/kzllyyy201212019
    [3] 牛建军, 邓志东.基于马尔可夫链的无线传感器网络分布式调度方法.自动化学报, 2010, 36(5): 685-695 doi: 10.3724/SP.J.1004.2010.00685

    Niu Jian-Jun, Deng Zhi-Dong. Markov chain-based distributed scheduling approach for wireless sensor network. Acta Automatica Sinica, 2010, 36(5): 685-695 doi: 10.3724/SP.J.1004.2010.00685
    [4] Yu Y H. Consensus-based distributed mixture Kalman filter for maneuvering target tracking in wireless sensor networks. IEEE Transactions on Vehicular Technology, 2016, 65(10): 8669-8681 doi: 10.1109/TVT.2015.2508456
    [5] Dong H L, Wang Z D, Lam J, Gao H J. Distributed filtering in sensor networks with randomly occurring saturations and successive packet dropouts. International Journal of Robust and Nonlinear Control, 2014, 24(12): 1743-1759 doi: 10.1002/rnc.2960
    [6] 吴苗苗, 张皓, 严怀成, 陈世明.异步切换多智能体系统的协同输出调节.自动化学报, 2017, 43(5): 735-742 doi: 10.16383/j.aas.2017.c160527

    Wu Miao-Miao, Zhang Hao, Yan Huai-Cheng, Chen Shi-Ming. Cooperative output regulation for asynchronously switched multi-agent systems. Acta Automatica Sinica, 2017, 43(5): 735-742 doi: 10.16383/j.aas.2017.c160527
    [7] 杨若涵, 张皓, 严怀成.基于事件触发的拓扑切换异构多智能体协同输出调节.自动化学报, 2017, 43(3): 472-477 doi: 10.16383/j.aas.2017.c160304

    Yang Ruo-Han, Zhang Hao, Yan Huai-Cheng. Event-triggered cooperative output regulation of heterogeneous multi-agent systems with switching topology. Acta Automatica Sinica, 2017, 43(3): 472-477 doi: 10.16383/j.aas.2017.c160304
    [8] Liu Q Y, Wang Z D, He X, Zhou D H. Consensus-based recursive distributed filtering with stochastic nonlinearities over sensor networks. In: Proceedings of the 33rd Chinese Control Conference. Nanjing, China: IEEE, 2014. 310-315
    [9] Foroush H S, Martínez S. On event-triggered control of linear systems under periodic Denial-of-Service jamming attacks. In: Proceedings of the 2012 IEEE 51st IEEE Conference on Decision and Control. Maui, HI, USA: IEEE, 2012. 2551-2256
    [10] Pang Z H, Liu G P. Design and implementation of secure networked predictive control systems under deception attacks. IEEE Transactions on Control Systems Technology, 2012, 20(5): 1334-1342 doi: 10.1109/TCST.2011.2160543
    [11] Mo Y L, Sinopoli B. Secure control against replay attacks. In: Proceedings of the 47th Annual Allerton Conference on Communication, Control, and Computing. Monticello, IL, USA: IEEE, 2009. 911-918
    [12] Zhang H, Cheng P, Shi L, Chen J M. Optimal DoS attack scheduling in wireless networked control system. IEEE Transactions on Control Systems Technology, 2016, 24(3): 843-852 doi: 10.1109/TCST.2015.2462741
    [13] Ding D R, Wang Z D, Wei G L, Alsaadi F E. Event-based security control for discrete-time stochastic systems. IET Control Theory & Applications, 2016, 10(15): 1808-1815 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=abd8424e47b036f3c9d26a9b9a85202e
    [14] Wang J B, Luo X L. Research on airborne passive location based on extend Kalman filter with control inputs. In: Proceedings of the 3rd International Conference on Information Science and Control Engineering. Beijing, China: IEEE, 2016. 1389-1392
    [15] 佘致廷, 邹薇, 董旺华, 秦亚胜.扩展卡尔曼滤波结合前馈补偿永磁同步电机位置估计.控制理论与应用, 2016, 33(10): 1312-1318 doi: 10.7641/CTA.2016.50747

    She Zhi-Ting, Zou Wei, Dong Wang-Hua, Qin Ya-Sheng. Extended Kalman filters combined with feed-forward compensation for permanent magnet synchronous moter position estimation. Control Theory & Applications, 2016, 33(10): 1312-1318 doi: 10.7641/CTA.2016.50747
    [16] Wu J F, Jia Q S, Johansson K H, Shi L. Event-based sensor data scheduling: trade-off between communication rate and estimation quality. IEEE Transactions on Automatic Control, 2013, 58(4): 1041-1046 doi: 10.1109/TAC.2012.2215253
    [17] Yu H, Hao F. Periodic event-triggered state-feedback control for discrete-time linear systems. Journal of the Franklin Institute, 2016, 353(8): 1809-1828 doi: 10.1016/j.jfranklin.2016.03.002
    [18] Liu S L, Quevedo D E, Xie L H. Event-triggered distributed constrained consensus. International Journal of Robust and Nonlinear Control, 2017, 27(16): 3043-3060 doi: 10.1002/rnc.3724
    [19] Cong Y R, Zhou X Y. Event-trigger based robust-optimal control for energy harvesting transmitter. IEEE Transactions on Wireless Communications, 2017, 16(2): 744-756 doi: 10.1109/TWC.2016.2628825
    [20] 杨旭升, 张文安, 俞立.适用于事件触发的分布式随机目标跟踪方法.自动化学报, 2017, 43(8): 1393-1401 doi: 10.16383/j.aas.2017.c150777

    Yang Xu-Sheng, Zhang Wen-An, Yu Li. Distributed tracking method for maneuvering targets with event-triggered mechanism. Acta Automatica Sinica, 2017, 43(8): 1393-1401 doi: 10.16383/j.aas.2017.c150777
    [21] Zhang X M, Han Q L. A decentralized event-triggered dissipative control scheme for systems with multiple sensors to sample the system outputs. IEEE Transactions on Cybernetics, 2016, 46(12): 2745-2757 doi: 10.1109/TCYB.2015.2487420
    [22] Boyd S, El Ghaoui L, Feron E, Balakrishnan V. Linear Matrix Inequalities in System and Control Theory. Philadelphia, USA: SIAM, 1994.
    [23] Horn R A, Zhang F Z. Basic properties of the Schur complement. The Schur Complement and Its Applications. Boston, MA: Springer, 2005. 17-46
    [24] Ma L F, Wang Z D, Han Q L, Lam H K. Variance-constrained distributed filtering for time-varying systems with multiplicative noises and deception attacks over sensor networks. IEEE Sensors Journal, 2017, 17(7): 2279-2288 doi: 10.1109/JSEN.2017.2654325
    [25] Li W L, Jia Y M, Du J P. Distributed consensus extended Kalman filter: a variance-constrained approach. IET Control Theory & Applications, 2017, 11(3): 382-389 doi: 10.1049/iet-cta.2016.1054
  • 加载中
图(7) / 表(1)
计量
  • 文章访问数:  2787
  • HTML全文浏览量:  841
  • PDF下载量:  430
  • 被引次数: 0
出版历程
  • 收稿日期:  2017-11-03
  • 录用日期:  2018-06-09
  • 刊出日期:  2020-01-21

目录

    /

    返回文章
    返回