Extended state observer-based backstepping control for nonlinear systems under FDI attacks

In this paper, a novel extended state observer-based backstepping control scheme is proposed for strict-feedback nonlinear systems with unmeasured states suffering from false data injection (FDI) attacks. An extended state observer is designed to achieve simultaneous online estimation of system states and FDI attacks. A secure output feedback tracking control scheme with an attack compensation method is proposed to reduce the influence of FDI attacks. It is proven that the proposed scheme can guarantee that the closed-loop system is semi-global uniformly ultimately bounded. Moreover, it is shown that the observation errors can be as small as desired with an adjustable parameter and the tracking error can converge to a small neighborhood of the origin. Finally, two simulation examples verify the efficiency of the proposed approach.