LAUSR

This paper addresses the problem of distributed secure state estimation for multi-agent systems under homologous sensor attacks. Two types of secure Luenberger-like distributed observers are proposed to estimate the system state and attack signal simultaneously. Specifically, the proposed two observers are applicable to deal with the cases in the presence and absence of time delays during network communication. It is also shown that the proposed observers can ensure the attack estimations from different agents asymptotically converge to the same value. Sufficient conditions for guaranteeing the asymptotic convergence of the estimation errors are derived. Simulation examples are finally provided to demonstrate the effectiveness of the proposed results.