Consensus of discrete-time multi-agent systems with adversaries and time delays

Abstract

This paper studies the resilient asymptotic consensus problem for discrete-time multi-agent systems in the presence of adversaries and transmission delays. The network is assumed to have loyal agents and adversarial agents, and each loyal agent in the network has no knowledge of the network topology other than an upper bound on the number of adversarial agents in its neighborhood. For the considered networked system, only locally delayed information is available for each loyal agent, and also the information flow is directed and a control protocol using only local information is designed to guarantee the realization of consensus with respect to communication graph, which satisfies a featured network robustness. Numerical examples are finally given to demonstrate the effectiveness of theoretical results.

Keywords:

• multi-agent systems
• discrete-time
• resilient consensus
• adversary
• delay systems

Notes

The authors would like to thank the editor and anonymous reviewers for their valuable comments. This work was supported by the National Natural Science Foundation of China under [grant number 61074054], [grant number 61203045], and [grant number 61304045].