Resilient Consensus of Second-Order Multi-Agent Systems Based on WiFi Signals

Solely utilizing information from wireless WiFi signals to communicate among agents of an undirected network, the resilient consensus in second-order discrete-time multi-agent systems with spoofed attack agents is studied in this paper. In this setting, the network system is often attacked maliciously, and the spoofed agent will affect the convergence state of the network. For this problem, the channel of the wireless WiFi signal is measured, and the weight value that changes with time is set according to the experimental measurement value. Then, in a limit form, some sufficient conditions are obtained for achieving consensus, and the parameter relationship of the two coefficients of velocity and position is calculated. The effectiveness of the algorithm is verified by comparing simulation examples in different cases.