Distributed Byzantine-Resilient Observer for High-Order Integrator Multiagent Systems on Directed Graphs: An Edge-Based Approach

This work deals with the distributed Byzantine-resilient observer (DBRO) design problem for continuous-time high-order integrator multiagent systems on directed graphs, which intends to estimate the leader states accurately in a finite-time interval. A new kind of edge-based DBRO is first formulated for the followers to estimate each order of the nonautonomous leader's state, which is implemented in a cascading manner. Then, the finite-time zero-error estimation performance of the above DBRO is guaranteed for both time-invariant and time-varying strongly
$(2f+1)$
-robust directed topologies, based on strictly nonsmooth analysis and mathematical induction method. Finally, the practicability and validity of this new DBRO are illustrated via a numerical simulation example.