AI Article Synopsis
- Cyber-attacks threaten the effectiveness of multiagent systems (MASs) by compromising agents, necessitating resilient control strategies.
- This article focuses on developing resilient consensus approaches for both first- and second-order discrete-time MASs, accounting for malicious agents, dynamic leaders, and communication delays.
- The authors propose new control methods and graph structures to manage error growth and validate their effectiveness through simulations and practical experiments involving unmanned ground and aerial vehicles.
Article Abstract
The ever-present cyber-attacks have posed a significant challenge to consensus of multiagent systems (MASs), due to their capability of compromising agents. These threats underscore the critical need to design control strategies that can endow MASs with resilience. In this article, we address resilient consensus problems for first- and second-order discrete-time MASs, considering the presence of malicious agents, a dynamic leader, and communication delay. First, a resilient controller is designed for first-order MASs, and sufficient conditions are derived based on existing robust graph concepts to achieve consensus with ultimately bounded error. Next, since the derived error bound grows factorially with the system scale, a novel graph structure and a modified controller are proposed to limit the growth to a linear rate. Building upon the obtained results, an estimator-based control framework is introduced to solve resilient consensus problems for second-order MASs. Finally, comparative simulations and practical experiments based on unmanned ground vehicles and unmanned-aerial-vehicles are conducted to validate the effectiveness and practicability of the proposed control methods.
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| http://dx.doi.org/10.1109/TCYB.2024.3464490 | DOI Listing |
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