Protocol-based variance-constrained distributed secure filtering with measurement censoring

In this article, the variance-constrained distributed secure filtering issue based on communication protocol is investigated for time-varying stochastic systems with measurement censoring and cyber attacks over wireless sensor networks. In order to accurately characterise the measurement censoring property of real instruments, a two-sided censoring model is introduced for each sensor node, where the actual measurement value can be obtained only when the pre-set condition is satisfied. The DoS attack, occurring in a random way, is considered on the sensor-to-filter channel. The try-once-discard (TOD) protocol is employed to reduce the transmitted data and alleviate the burdens of shared communication networks, such that only one sensor node is granted to transmit the measurement data at each time instant. By the aid of the Lyapunov stability theory and recursive linear matrix inequality (RLMI) method, the sufficient condition is acquired to guarantee that the desired secure filter under cyber attacks ensures certain $ H_{\infty } $ H∞ performance index and the filtering error variance constraint over a finite horizon. Finally, an illustrative example is provided to exhibit the effectiveness of the designed filtering algorithm.