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We develop a decentralized $H_\infty$ synthesis approach to detection ofbiasing misappropriation attacks on distributed observers. Its starting pointis to equip the observer with an attack model which is then used in the designof attack detectors. A two-step design procedure is proposed. First, an initialcentralized setup is carried out which enables each node to compute theparameters of its attack detector online in a decentralized manner, withoutinteracting with other nodes. Each such detector is designed using the$H_\infty$ approach. Next, the attack detectors are embedded into the network,which allows them to detect misappropriated nodes from innovation in thenetwork interconnections.

Robust Detection of Biasing Attacks on Misappropriated Distributed Observers via Decentralized $H_\infty$ synthesis