Distributed multi-rate sampled-data H∞ consensus filtering for cyber-physical systems under denial-of-service attacks

This paper addresses the problem of designing the distributed sampled-data consensus filters for cyber-physical systems when the sampling rate of the sensors is different from that of the filters, and the measurement channels from the sensors to the filters and the communication links between the filters are subject to the denial-of-service attacks. First, a new sequence is defined to unify the sampling instants of the sensors and filters. Based on this new sequence and the detectability decomposition, distributed multi-rate sampled-data consensus filters are designed, and the resilience of the proposed filters to the denial-of-service attacks is analyzed. It is shown that the attacks on the measurement channels will degrade the performance of the state estimations of both detectable part and undetectable part of the system state, while the attacks on the communication links only affect the performance of the state estimations of the undetectable part of the system state. At last, an example is provided to demonstrate the effectiveness of the proposed method.