2025/11/24 by Yuan, Liwei, Ishii, Hideaki
Computer Science · #Distributed Control Multi-Agent Systems #Distributed systems and fault tolerance #FOS: Computer and information sciences #FOS: Electrical engineering #Multiagent Systems (cs.MA) #Opportunistic and Delay-Tolerant Networks #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.2511.19327
openalex publication_date 2025/11/24 · openalex created_date 2025/11/27 · openalex updated_date 2026/07/28
This paper examines resilient dynamic leader-follower consensus within multi-agent systems, where agents share first-order or second-order dynamics. The aim is to develop distributed protocols enabling nonfaulty/normal followers to accurately track a dynamic/time-varying reference value of the leader while they may receive misinformation from adversarial neighbors. Our methodologies employ the mean subsequence reduced algorithm with agents engaging with neighbors using multi-hop communication. We accordingly derive a necessary and sufficient graph condition for our algorithms to succeed; also, our tracking error bounds are smaller than that of the existing method. Furthermore, it is emphasized that even when agents do not use relays, our condition is tighter than the sufficient conditions in the literature. With multi-hop relays, we can further obtain more relaxed graph requirements. Finally, we present numerical examples to verify the effectiveness of our algorithms.