A Distributed Security State Reconfiguration Method Based on Double-layer Dynamically Switching Observers
A safe state and observer technology, applied in safe communication devices, digital transmission systems, electrical components, etc., to reduce the possibility of collapse, ensure safe reconstruction, and contain the effect of impact
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[0066] Step 1. For a multi-agent system consisting of 5 unmanned vehicles, the dynamic model is as follows:
[0067]
[0068] The attacker randomly selects the sensor transmission channels of 2 cars for attack injection every 5s, and the bad data injection function is d i (t)=(-ip i 0.5e t / 20 ) T .
[0069] Next, according to figure 2 The described process is used to solve the corresponding parameters to realize the distributed security state observation of multi-agents.
[0070] Step 2, the communication topology between the 5 cars and the double-layer observer is as follows image 3 The dotted circles represent the first-layer observer and the second-layer observer respectively; the solid line in the observer channel represents the communication topology channel when the observer determines that there is no malicious attack, and the dashed line represents the dynamic when the observer determines that there is a malicious attack. Switched communication channel. St...
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