Distributed Secure Consensus for First-Order Multi-agent Systems under Replay Attacks

This paper is concerned with secure consensus of first-order discrete-time multi-agent systems under replay attacks. State information is transmitted over a communication network and each agent may be attacked by an adversary who is able to replay the state information sent from its neighbors maliciously. To resist the attackers, we design a control protocol by applying the distributed model predictive control methodology. The sufficient conditions for multi-agent systems to achieve consensus under replay attack is derived. Numerical examples are presented to verify the validity of the proposed consensus protocol.