Resilient Leader-Follower Consensus to Arbitrary Reference Values
It extends resilient consensus to tracking arbitrary reference values, a previously unstudied problem for multi-agent systems with misbehaving agents.
This paper addresses the problem of resilient consensus tracking in multi-agent networks with misbehaving agents, where the goal is to converge to arbitrary reference values outside the convex hull of initial states. It establishes conditions under which the W-MSR algorithm achieves this objective.
The problem of consensus in the presence of misbehaving agents has increasingly attracted attention in the literature. Prior results have established algorithms and graph structures for multi-agent networks which guarantee the consensus of normally behaving agents in the presence of a bounded number of misbehaving agents. The final consensus value is guaranteed to fall within the convex hull of initial agent states. However, the problem of consensus tracking considers consensus to arbitrary reference values which may not lie within such bounds. Conditions for consensus tracking in the presence of misbehaving agents has not been fully studied. This paper presents conditions for a network of agents using the W-MSR algorithm to achieve this objective.