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arXiv · 2002.00040

Resilient Finite Time Consensus: A Discontinuous Systems Perspective

James Usevitch·Dimitra Panagou
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Abstract

Many algorithms have been proposed in prior literature to guarantee resilient multi-agent consensus in the presence of adversarial attacks or faults. The majority of prior work present excellent results that focus on discrete-time or discretized continuous-time systems. Fewer authors have explored applying similar resilient techniques to continuous-time systems without discretization. These prior works typically consider asymptotic convergence and make assumptions such as continuity of adversarial signals, the existence of a dwell time between switching instances for the system dynamics, or the existence of trusted agents that do not misbehave. In this paper, we expand the study of resilient continuous-time systems by removing many of these assumptions and using discontinuous systems theory to provide conditions for normally-behaving agents with nonlinear dynamics to achieve consensus in finite time despite the presence of adversarial agents.

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James Usevitch, Dimitra Panagou. 2020-01-31. Resilient Finite Time Consensus: A Discontinuous Systems Perspective. https://arxiv.org/abs/2002.00040

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