Resilient Dynamic Average-consensus of Multi-agent Systems

Abstract

This paper presents a distributed protocol based on competitive interaction design method to solve the dynamic average-consensus problem on strongly-connected balanced directed graphs in the presence of adversaries. The competitive interaction method allows us to design a network that protects the multi-agent systems from adversaries without requiring high network connectivity and global information about the number of adversaries. We design a resilient distributed protocol to track the average of time-varying bounded reference signals, which every agent is receiving. We show that in the presence of bounded cyber-attacks onto the communication network and actuators, the agents achieve dynamic average-consensus. Simulations are presented to illustrate our theoretical results.