Scaled Event-Triggered Resilient Consensus Control of Continuous-Time Multi-Agent Systems Under Byzantine Agents

This paper investigates the scaled event-triggered consensus control for the continuous-time multi-agent system under Byzantine agents. The Byzantine agents do not follow the desired control strategy, which may influence the consensus performance of the multi-agent systems. To realize the scaled consensus under the Byzantine agents, a novel continuous-time scaled event-triggered mean-subsequence-reduced algorithm is constructed. First, a scaled resilient consensus controller is developed, where every cooperative agent removes the most different event-triggered transmitted values from the in-neighbors and obtains the associated scaled resilient consensus control input. Besides, a novel dynamic event-triggered condition is designed based upon the associated discontinuous and non-differentiable Lyapunov function candidate. In addition, two sets of auxiliary variables are introduced into the event-triggered condition, to prevent the usage of the global topology information and to exclude the Zeno behavior simultaneously. The proposed control algorithm can realize the scaled consensus of the continuous-time multi-agent systems, resist the Byzantine agents, and decrease the communication burden simultaneously. The simulation results verify the effectiveness of the proposed algorithm.