Resilient Consensus with Switching Networks and Double-Integrator Agents

Abstract

In this paper, we investigate the resilient consensus problem for the second-order multi-agent system communicating via switching networks. The term resilient means that the control protocols should consider the presence of attacks by some malicious agents. Assuming that the maximum number of malicious agents in the neighborhood of each agent is bounded and known, we propose a local neighbors’ information-based on distributed consensus protocol suitable for time-varying topologies to deal with the malicious attacks. It is shown that if the union of communication graphs over a bounded period satisfies certain network robustness property, the states of all normal agents can be guaranteed to reach an agreement resiliently. Numerical simulations are provided to illustrate the effectiveness of the theoretical results.