Resilient tracking consensus over dynamic random graphs: A linear system approach

Cooperative coordination in multi-agent systems has been a topic of interest networked control theory recent years. In contrast to cooperative agents, Byzantine agents network are capable manipulate their data arbitrarily and send bad messages neighbors, causing serious security issues. This paper is concerned with resilient tracking consensus over time-varying random directed graph, which consists single leader. The objective the convergence leader presence those deleterious agents. We assume that number identity not known communication edges graph dynamically randomly evolving. Based upon linear system analysis martingale theorem, we design discrete-time protocol ensure almost surely purely distributed manner. Some numerical examples provided verify our theoretical results.