Resilient Leader-Following Consensus of Continuous Second-order Multi-agent Systems With Malicious agents

Resilient leader-following consensus in continuous double-integrator multi-agent systems is considered in this paper. To realize global objectives, all agents need to communicate with their neighbors, which can be vulnerable to malicious attacks. In spite of the presence of malicious agents, the benign ones aim to follow the leader. With regards to this, a resilient leader-following consensus protocol is presented. Under certain topology condition, the proposed protocol can guarantee that the resilient leader-follower consensus is achieved. Simulation results are finally given to demonstrate the validity of theoretical results.

1 Introduction

With the rapid development of computer and communication devices, cooperative control in MASs has received ex-tensive research interest. In terms of consensus in MASs, it is assumed that each agent behaves normally in [2]–[5]. Never-theless, it is worth noting that the distributed network makes the system vulnerable to malicious attacks, and external ad-versaries may degrade the performance of existing methods. Meanwhile, the differences between faulty attacks are systematically in [6], showing that malicious attacks usually de-grade the system performance more severely.