Resilient Consensus Through Asynchronous Event-based Communication
Resilient Consensus Through Asynchronous Event-based Communication
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DOI：
10.23919/acc.2019.8815065
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发表时间：
2018-11
期刊：
影响因子：
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通讯作者：
Y. Wang;H. Ishii
中科院分区：
文献类型：
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作者：
Y. Wang;H. Ishii
在网络中存在错误甚至恶意代理的情况下，我们考虑离散时间多代理一致性的弹性版本。特别地，我们开发了事件触发的更新规则，以减轻恶意代理的影响，同时减少必要的通信。每个常规代理使用其邻居的信息基于给定的规则来更新其状态。只有当触发条件满足时，规则代理才将其当前状态发送给邻居。否则，邻居将继续使用上次接收到的状态。在已知恶意节点数目的条件下，提出了两种基于事件触发通信的更新规则.它们遵循所谓的平均子序列缩减（MSR）型算法，并忽略从潜在恶意邻居接收的值。我们给出了算法正确执行所必需的网络连通性的完整刻画，这些刻画是用图鲁棒性的概念来表述的。 数值算例验证了该方法的有效性.
We consider resilient versions of discrete-time multi-agent consensus in the presence of faulty or even malicious agents in the network. In particular, we develop event-triggered update rules which can mitigate the influence of the malicious agents and at the same time reduce the necessary communication. Each regular agent updates its state based on a given rule using its neighbors' information. Only when the triggering condition is satisfied, the regular agents send their current states to their neighbors. Otherwise, the neighbors will continue to use the state received the last time. Assuming that a bound on the number of malicious nodes is known, we propose two update rules with event-triggered communication. They follow the so-called mean subsequence reduced (MSR) type algorithms and ignore values received from potentially malicious neighbors. We provide full characterizations for the necessary connectivity in the network for the algorithms to perform correctly, which are stated in terms of the notion of graph robustness. A numerical example is provided to demonstrate the effectiveness of the proposed approach.