Resilient Consensus of Multi-Agent Systems on Time-Varying Directed Graphs Under Byzantine Attacks and Actuation Attacks

This work deals with the distributed attack-resilient consensus problem for continuous-time multi-agent systems on time-varying directed graphs. An unknown fraction of agents are Byzantine agents, which send false information to deceive their neighbors. Moreover, each normal agent suffers from actuation attacks. In order to ensure the resilience of all normal agents against the above hybrid attacks, a new kind of edge-based protocols is formulated, which achieves resilient consensus via signed feedback. Then, the finite-time zero-error control performance of the above protocol is proven for ( $2f+1$ ) - robust time-varying directed topologies, based on strictly Lyapunov stability analysis.