Resilient Consensus of Second-Order Multi-Agent Systems Under Mobile Malicious Faults

This letter focuses on the resilient consensus problem of second-order sampled-data multi-agent systems (MASs) in the presence of mobile malicious agents under a directed graph. Unlike static attacks, mobile adversaries have the capability to move within the network, causing the state values of attacked agents to remain compromised for a certain period. To this end, we propose a modified version of the double-integrator position-based mean sub-sequence reduced (DP-MSR) algorithm, and develop conditions on the network structure to guarantee the resilient consensus of the considered system. In the above scheme, the extreme values from both neighbors and the agent itself are ignored to better compensate the impact of mobile malicious agents. It is demonstrated that the system can achieve resilient consensus under sufficient network connectivity, even in the presence of a limited number of mobile malicious agents. Numerical simulations are performed to verify the effectiveness of the proposed algorithm.