# Resilient Leader-Follower Consensus with Time-Varying Leaders in Discrete-Time Systems

## TL;DR

This paper introduces a resilient method for discrete-time multi-agent systems to track a time-varying reference state set by leaders, even with some agents behaving adversarially, demonstrated through simulations.

## Contribution

The paper proposes a novel resilient leader-follower consensus algorithm for discrete-time systems that can handle adversarial agents tracking a dynamic reference outside the convex hull.

## Key findings

- Successfully tracks time-varying reference despite adversaries
- Demonstrates robustness through simulation results
- Extends leader-follower consensus to adversarial environments

## Abstract

The problem of consensus in the presence of adversarially behaving agents has been studied extensively in the literature. The proposed algorithms typically guarantee that the consensus value lies within the convex hull of initial normal agents' states. In leader-follower consensus problems however, the objective for normally behaving agents is to track a time-varying reference state that may take on values outside of this convex hull. In this paper we present a method for agents with discrete-time dynamics to resiliently track a set of leaders' common time-varying reference state despite a bounded subset of the leaders and followers behaving adversarially. The efficacy of our results are demonstrated through simulations.