Event-Triggered Formation Control and Leader Tracking With Resilience to Byzantine Adversaries: A Reputation-Based Approach

Abstract

A distributed event-triggered controller is developed for formation control and leader tracking (FCLT) with robustness to adversarial Byzantine agents for a class of heterogeneous multi-agent systems (MASs). Assuming each agent can accurately measure the state of a neighbor whenever the neighbor broadcasts its state, a reputation-based strategy is developed for each agent to detect Byzantine agent behaviors within their neighbor set and then selectively disregard Byzantine state information. Selectively ignoring Byzantine agents results in a time-varying graph topology. Nonsmooth dynamics also result from intermittent communication due to an event-triggered strategy, which facilitates the efficient use of resources. Nonsmooth Lyapunov methods are used to prove stability and FCLT of the MAS consisting of the remaining cooperative agents.