Resilient bipartite consensus of high-order heterogeneous multi-agent systems under Byzantine attacks

This paper addresses a resilient bipartite output consensus issue for high-order heterogeneous multi-agent systems (MASs) with Byzantine attacks. Output regulator equations as well observers are introduced for bipartite leader-following issue with heterogeneous dynamics. For the security concerns, a multidimensional-bipartite-absolute-mean-subsequence-reduced (MBA-MSR) algorithm is developed for each component of received information from neighbors. This algorithm sorts and trims a set of structures, which judge the absolute value of the difference between the output of the current follower observer and that of the signed neighbor observer. It is able to exclude bounded paralyzed signals as the graph is strongly robust. Based on the filtered information via the algorithm, a resilient adaptive observer is designed to for individual follower. A resilient control strategy is then proposed for the MAS to achieve bipartite output consensus under $f$-local/total attack. For reduction of number of sort, a conditional MBA-MSR (CMBA-MSR) algorithm is also developed. Finally, simulation examples are given to illustrate the effectiveness of the theoretical results.