Towards resilient average consensus in multi-agent systems:a detection and compensation approach

作     者：Chongrong FANG Wenzhe ZHENG Zhiyu HE Jianping HE Chengcheng ZHAO Jingpei WANG Chongrong FANG;Wenzhe ZHENG;Zhiyu HE;Jianping HE;Chengcheng ZHAO;Jingpei WANG

作者机构：Department of AutomationShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of Industrial Control TechnologyZhejiang UniversityHangzhou310027China Technology and Engineering Center for Space UtilizationChinese Academy of SciencesBeijing100094China 

出 版 物：《Frontiers of Information Technology & Electronic Engineering》 (信息与电子工程前沿（英文版）)

年 卷 期：2024年第25卷第2期

页      面：182-196页

核心收录：

学科分类：0711[理学-系统科学] 0808[工学-电气工程] 07[理学] 0835[工学-软件工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：Project supported by the National Natural Science Foundation of China(Nos.62103266,61972345,and U1911401) the State Key Laboratory of Industrial Control Technology,China(No.ICT2023A03)。 

主　　题：Resilient consensus Multi-agent systems Malicious attacks Detection Compensation 

摘      要：Consensus is one of the fundamental distributed control technologies for collaboration in multi-agent systems such as collaborative handling in intelligent manufacturing.In this paper,we study the problem of resilient average consensus for multi-agent systems with misbehaving nodes.To protect consensus value from being influenced by misbehaving nodes,we address this problem by detecting misbehaviors,mitigating the corresponding adverse impact,and achieving the resilient average consensus.General types of misbehaviors are considered,including attacks,accidental faults,and link failures.We characterize the adverse impact of misbehaving nodes in a distributed manner via two-hop communication information and develop a deterministic detection compensation based consensus(D-DCC)algorithm with a decaying fault-tolerant error bound.Considering scenarios wherein information sets are intermittently available due to link failures,a stochastic extension named stochastic detection compensation based consensus(S-DCC)algorithm is proposed.We prove that D-DCC and S-DCC allow nodes to asymptotically achieve resilient accurate average consensus and unbiased resilient average consensus in a statistical sense,respectively.Then,the Wasserstein distance is introduced to analyze the accuracy of S-DCC.Finally,extensive simulations are conducted to verify the effectiveness of the proposed algorithms.