Distributed Byzantine-resilient Observer for High-Order Integrator Multi-Agent Systems on Directed Graphs: An Edge-based Approach

This work deals with the distributed Byzantine-resilient observer (DBRO) design problem for continuous-time high-order integrator multi-agent systems on directed graphs, which intends to estimate the leader states accurately in a finite-time interval. A new kind of edge-based DBRO is first formulated for the followers to estimate each order of the non-autonomous leader's state, which is implemented in a cascading manner. Then, the finite-time zero-error estimation performance of the above DBRO is guaranteed for both time-invariant and time-varying strongly $(2f+1)$ -robust directed topologies, based on strictly non-smooth analysis and mathematical induction method. Finally, the practicability and validity of this new DBRO are illustrated via a numerical simulation example.