Resilient Consensus for Heterogeneous Networks Under Byzantine Attacks

This paper investigates the consensus problem of multi-agent systems in heterogeneous networks against Byzantine attacks. Heterogeneous networks consist of different subsystems, and existing resilient consensus controllers for heterogeneous networks require specifying specific protocols for each subsystem, with no possibility for interaction between agents in different subsystems. In this study, we present a novel framework, based on hypergraph theory, for representing the complex connections within heterogeneous networks. These networks consist of diverse subsystems, including both discrete and continuous components, and also involve diverse update strategies. Based on the network model, a unified distributed resilient consensus protocol based on Weighted-Mean-Subsequence-Reduced (W-MSR) algorithm is developed and network connectivity conditions are provided in the presence of Byzantine attacks. Finally, the simulation results demonstrate the effectiveness of the proposed algorithm and support the main theoretical findings.