Robust State Estimation in the Presence of Sensor/Actuator Attacks
Miroslav Pajic, George Pappas

Citation
Miroslav Pajic, George Pappas. "Robust State Estimation in the Presence of Sensor/Actuator Attacks". Talk or presentation, October, 2014; Poster presented at the 2014 TerraSwarm Annual Meeting.

Abstract
The interaction between information technology and physical world makes Cyber-Physical Systems (CPS) vulnerable to malicious attacks beyond the standard cyber attacks. This has motivated the need for attack-resilient state estimation. Yet, the existing state-estimators are based on the non-realistic assumption that the exact system model is known. Consequently, in this work we present a method for state estimation in presence of attacks, for systems with noise and modeling errors. When the the estimated states are used by a state-based feedback controller, we show that the attacker cannot destabilize the system by exploiting the dierence between the model used for the state estimation and the real physical dynamics of the system. Furthermore, we describe how implementation issues such as jitter, latency and synchronization errors can be mapped into parameters of the state estimation procedure that describe modeling errors, and provide a bound on the state-estimation error caused by modeling errors. This enables mapping control performance requirements into real-time (i.e., timing related) specications imposed on the underlying platform. Finally, we illustrate and experimentally evaluate this approach on an unmanned ground vehicle case-study.

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Citation formats

• HTML

  Miroslav Pajic, George Pappas. <a
  href="http://www.terraswarm.org/pubs/441.html"><i>Robust
  State Estimation in the Presence of Sensor/Actuator
  Attacks</i></a>, Talk or presentation,  October,
  2014; Poster presented at the <a
  href="http://www.terraswarm.org/conferences/14/annual"
  >2014 TerraSwarm Annual Meeting</a>.

• Plain text

  Miroslav Pajic, George Pappas. "Robust State Estimation
  in the Presence of Sensor/Actuator Attacks". Talk or
  presentation,  October, 2014; Poster presented at the <a
  href="http://www.terraswarm.org/conferences/14/annual"
  >2014 TerraSwarm Annual Meeting</a>.

• BibTeX

  @presentation{PajicPappas14_RobustStateEstimationInPresenceOfSensorActuatorAttacks,
      author = {Miroslav Pajic and George Pappas},
      title = {Robust State Estimation in the Presence of
                Sensor/Actuator Attacks},
      month = {October},
      year = {2014},
      note = {Poster presented at the <a
                href="http://www.terraswarm.org/conferences/14/annual"
                >2014 TerraSwarm Annual Meeting</a>},
      abstract = {The interaction between information technology and
                physical world makes Cyber-Physical Systems (CPS)
                vulnerable to malicious attacks beyond the
                standard cyber attacks. This has motivated the
                need for attack-resilient state estimation. Yet,
                the existing state-estimators are based on the
                non-realistic assumption that the exact system
                model is known. Consequently, in this work we
                present a method for state estimation in presence
                of attacks, for systems with noise and modeling
                errors. When the the estimated states are used by
                a state-based feedback controller, we show that
                the attacker cannot destabilize the system by
                exploiting the dierence between the model used
                for the state estimation and the real physical
                dynamics of the system. Furthermore, we describe
                how implementation issues such as jitter, latency
                and synchronization errors can be mapped into
                parameters of the state estimation procedure that
                describe modeling errors, and provide a bound on
                the state-estimation error caused by modeling
                errors. This enables mapping control performance
                requirements into real-time (i.e., timing related)
                specications imposed on the underlying platform.
                Finally, we illustrate and experimentally evaluate
                this approach on an unmanned ground vehicle
                case-study. },
      URL = {http://terraswarm.org/pubs/441.html}
  }
  

Posted by Miroslav Pajic on 5 Nov 2014.
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