Distributed H∞ Filtering for Stochastic Nonlinear Systems with Two-Channel Hybrid Attacks over Sensor Networks

This paper concerns the modeling and distributed secure filtering for sensor networks with randomly varying nonlinearities, where sensor-to-filter channels and channels among filters are simultaneously corrupted by randomly hybrid attacks. A unified framework is proposed to model randomly varying nonlinearities and two-channel hybrid attacks. By means of an augmentation method, the global filtering error system with the dynamics of all nodes is obtained. Based on analysis of stability and H infinity attenuation effect for the global filtering error system, a novel distributed nonlinear H infinity filter which can suppress randomly varying nonlinearities and twochannel hybrid attacks of unknown prior information is designed. A sufficient condition is derived such that distributed filter gains are obtained by offline solving a linear matrix inequality. An electromechanical servosystem is provided to demonstrate the validity of the developed algorithm.