Mean-square exponential convergence for Byzantine-resilient distributed state estimation

This paper studies the problem of distributed resilient state estimation (RSE) for linear measurement models in the presence of locally -bounded Byzantine nodes that may arbitrarily deviate from the prescribed update rule. Necessary and sufficient conditions for the existence of a distributed algorithm to solve the RSE problem in the almost sure sense are characterized in term of the topology -associated robustly collective observability. Under these conditions, a distributed projected stochastic resilient filtering algorithm is proposed. Compared with the existing results where asymptotic or probabilistic finite -time analysis is established, the exponential convergence (in sense of mean square) of the proposed algorithm is proved. To further improve computational performance of the algorithm, an adaptive event -triggered mechanism is constructed without compromising its correctness of the estimate. (c) 2024 Elsevier Ltd. All rights reserved.