Resilient Consensus of Second-order Discrete-time Multi-agent Systems Under Malicious Attack

In this paper, we address resilient consensus of second-order discrete-time multi-agent systems with malicious agent that updates its value arbitrarily. Two kinds of attack forms (f-local and f-total) are presented. Under certain graph robustness condition, the proposed resilient algorithm could guarantee that all normal agents are not affected by the malicious agents to reach an agreement, and the final consensus value lies in a safety interval. Some numerical examples are finally given to demonstrate the validity of theoretical results.