Event-triggered Secure Estimation for Large-scale Interconnected Systems Based on Intermediate Estimator

This paper is concerned with the event-triggered secure state and actuator attack estimation problem in the context of large-scale cyber-physical systems. An event-triggered mechanism is designed with a time-varying threshold to decide whether the newly output measurements will be transmitted to the estimator for each node. Based on local received output measurements, decentralized intermediate estimators are constructed and the uniformly ultimately boundedness of the event-triggered error estimation systems can be guaranteed. Master-slave multiple vehicles systems are used to demonstrate the effectiveness of the proposed methods.