Reaching Resilient Leader-Follower Consensus in Time-Varying Networks via Multihop Relays

• 成果类型: Article
• 署名作者: Yuan, Liwei; Ishii, Hideaki
• 署名单位: Shanghai Jiao Tong University; University of Tokyo
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2026.3680751
• 发表日期: 2026

摘要

We study the problem of resilient leader-follower consensus of multiagent systems in the presence of adversarial agents, where agents' communication is modeled by time-varying topologies. The objective is to develop distributed algorithms for the nonfaulty/normal follower agents to track an arbitrary reference value propagated by a set of leaders while they are in interaction with the unknown adversarial agents. Our approaches are based on the weighted mean subsequence reduced algorithms with agents being capable of communicating with multihop neighbors. The proposed algorithms achieve the objective with agents possessing first-order and second-order dynamics. Moreover, we characterize tight necessary and sufficient graph conditions for the proposed algorithms to succeed in terms of the novel notion of jointly robust following graphs. Our graph condition is tighter than the sufficient graph conditions in the literature when agents use only one-hop communication (without relays). Besides, multihop relays enable us to obtain further relaxed graph requirements for our algorithms to succeed. Numerical examples are given to verify the efficacy of our algorithms.