Distributed secure state reconstruction method based on double-layer dynamic switching observer

Abstract

The present disclosure discloses a distributed secure state reconstruction method based on a double-layer dynamic switching observer. The method includes the following steps: constructing a dynamics model of a sensing channel of a multi-agent system after the sensing channel is attacked according to the multi-agent system; building a double-layer observer for each multi-agent in combination with a specific multi-agent system model, constructing a proper observation communication topology, and designing a corresponding residual generator; analyzing dynamic information generating a residual threshold aiming at an observation model, checking a magnitude between each residual signal and the threshold, dynamically switching the communication topology between the observers according to the compared magnitude, and performing a new data communication interaction; and performing iterative updating to generate new observation data in combination with self observation data and received neighbor observation information, and taking whether the residual signal is greater than a current threshold or not as a standard for determining whether a corresponding communication channel is attacked or not. According to the present disclosure, all transmission channels subjected to malicious attacks can he correctly identified, and the real state of the system can be securely reconstructed.