Prediction based fusion estimator-controller for an event-triggered multi-sensor cyber-physical systems

This article focusses on development of centralized fusion estimator-controller for event-triggered multi-variable(MV) multi-sensors(MS) cyber–physical systems. The unified mathematical model is developed, which is able to take care of simultaneous occurrences of packet loss in S-E and C-A channels and event-triggered conditions. The model uses current measurements and state predictions to handle communication flaws and untriggered sensor measurements. The centralized fusion estimator is developed using orthogonal projections for augmented MV-MS system, offering a globally optimal solution. The proposed fusion estimator possesses linear minimum variance property and it is unbiased. Feedback control is designed and it ensures mean square stability. Zero estimate error concept is introduced to reduce the computation burden, network congestion and energy utilization. The novel residual-based cyber-attack detection algorithm is developed. The proposed method is validated for cruise control system and performance is compared with other popular works.