Distributed Resilient Consensus on General Digraphs under Cyber-attacks

Abstract

This paper presents a distributed resilient consensus protocol based on competitive interaction design method to solve consensus problem on general digraphs containing directed spanning tree in the presence of cyber-attacks. The attacker aims at destabilizing the consensus dynamics by intercepting the systems communication network. The competitive interaction method allows us to design a virtual network that protects the multi-agent systems from adversaries without requiring high network connectivity and global information about the number of adversaries. In fact, the proposed distributed consensus protocol enables agents to achieve consensus in the presence of any number of bounded adversaries and also when the virtual network is being attacked. In addition, the proposed virtual network also improves the performance of consensus algorithm in the absence of attacks. Simulations are presented to illustrate our theoretical results.