Byzantine-Resilient Second-Order Consensus in Networked Systems.

This article studies the second-order consensus problem in networked systems containing the so-called Byzantine misbehaving nodes when only an upper bound on either the local or the total number of misbehaving nodes is known. The existing results on this subject are limited to malicious/faulty model of misbehavior. Moreover, existing results consider consensus among normal nodes in only one of the two states, with the other state converging to either zero or a predefined value.