I. Introduction
The growing importance of distributed systems gives rise to Federated Learning (FL) [1], which is proposed as a distributed machine learning framework and protects the privacy of the user training data. With the fast proliferation of 5G technology, it is an emerging trend to train FL models on heterogeneous devices, such as IoT and edge devices [2]. However, in classic FL frameworks, a centralized authoritative server is required and users must unconditionally trust local models uploaded by other unverified devices. Besides, the synchronous global aggregation drags down the convergence speed, which poses further threats to the application of FL.