Event/Self-Triggered Approximate Leader-Follower Consensus With Resilience to Byzantine Adversaries
Federico M. Zegers, Patryk Deptula, John M. Shea, Warren E. Dixon
Abstract
Distributed event- and self-triggered controllers are developed for approximate leader-follower consensus with robustness to adversarial Byzantine agents for a class of homogeneous multi-agent systems (MASs). A strategy is developed for each agent to detect Byzantine agent behaviors within their neighbor set and then selectively disregard their transmission. Selectively removing Byzantine agents results in time-varying discontinuous changes to the network topology. Nonsmooth dynamics also result from the use of event/self-triggered strategies and triggering condition estimators that enable intermittent communication. Nonsmooth Lyapunov methods are used to prove approximate consensus of the MAS consisting of the remaining cooperative agents. Simulations are included to validate the result and to outline the tradeoff between communication and performance.