Distribute consensus for multi-agent systems with attacks and delays

This paper considers the distribute consensus problem for continuous-time multi-agent systems with attacks and delays. The network is assumed to have nl loyal agents and na = n − nl attack agents, where each loyal agent updates its state based on exchanged delayed information with its neighboring agents. Meanwhile, attack agents strategically sent false information to bias the states of other agents and thus drive the network to an undesirable state. Based on the neighbor nodes´ delayed information, we propose a novel delay robust secure consensus (DRSC) algorithm. Sufficient conditions for DRSC algorithm under dynamic topology have been provided. By constructing a Lyapunov-Krasovskii functional and using a Barbalat-like argument, convergence analysis and technical proofs are provided. Finally, a numerical example is given to illustrate the effectiveness of the proposed results.