Reputation-Based Event-Triggered Formation Control and Leader Tracking with Resilience to Byzantine Adversaries

A distributed event-triggered controller is developed for formation control and leader tracking (FCLT) with robustness to adversarial Byzantine agents for a class of heterogeneous multi-agent systems (MASs). A reputation-based strategy is developed for each agent to detect Byzantine agent behaviors within their neighbor set and then selectively disregard Byzantine state information. Selectively ignoring Byzantine agents results in time-varying discontinuous changes to the network topology. Nonsmooth dynamics also result from the use of the event-triggered strategy enabling intermittent communication. Nonsmooth Lyapunov methods are used to prove stability and FCLT of the MAS consisting of the remaining cooperative agents.