通信时延下多智能体系统的安全一致性控制
Secure consensus control for multi-agent systems under communication delay

研究了离散时间多智能体系统存在通信时延条件下的安全一致性问题. 本文的目标是设计一种一致性控 制算法能够使得网络中各正常智能体抵御敌对智能体的攻击并实现最终状态一致. 该算法仅利用个体的自身状态 和相邻个体的时延信息作为控制输入, 并根据控制器参数、拓扑属性和通信时延, 获得了所提算法实现收敛的充要 条件. 最后, 通过仿真实例对理论结果进行了验证.
This paper studies the secure consensus problem for discrete-time multi-agent systems under communication delay. The objective is to design a control protocol such that all normal agents can resist adversarial agents and asymptotically achieve an agreement as time goes to infinity. For the considered networked system, the control input of each normal agent can only use its own value and the delayed information of its neighbors. Sufficient and necessary conditions, which depend on the control parameters, the topological property, and the communication delay, are obtained to guarantee the final convergence of the consensus protocol. Finally, some numerical examples are given to demonstrate the theoretical results.