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 di erence 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.

Electronic downloads


Internal. This publication has been marked by the author for TerraSwarm-only distribution, so electronic downloads are not available without logging in.
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.
Groups: services

Notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright.