Event-Triggered Resilient Consensus of Networked Euler-Lagrange Systems Under Byzantine Attacks

TL;DR

This paper develops an event-triggered resilient consensus algorithm for networked Euler-Lagrange systems that can withstand Byzantine attacks, addressing the challenge of multi-dimensional system complexity.

Contribution

It introduces a novel resilient decision algorithm tailored for multi-dimensional Euler-Lagrange systems with event-triggered communication under Byzantine attacks.

Findings

Algorithm successfully achieves resilient consensus in simulations.

Event-triggered scheme reduces communication load.

Effective handling of Byzantine attack behaviors.

Abstract

The resilient consensus problem is investigated in this paper for a class of networked Euler-Lagrange systems with event-triggered communication in the presence of Byzantine attacks. One challenge that we face in addressing the considered problem is the inapplicability of existing resilient decision algorithms designed for one-dimensional multi-agent systems. This is because the networked Euler-Lagrange systems fall into the category of multi-dimensional multi-agent systems with coupling among state vector components. To address this problem, we propose a new resilient decision algorithm. This algorithm constructs auxiliary variables related to the coordinative objectives for each normal agent, and transforms the considered resilient consensus problem into the consensus problem of the designed auxiliary variables. Furthermore, to relax the constraints imposed on Byzantine agent behavior patterns within continuous-time scenarios, the event-triggered communication scheme is adopted. Finally, the effectiveness of the proposed algorithm is demonstrated through case studies.