Resiliency in dynamic leader–follower multiagent systems

Resilient control of multiagent systems (MASs) in the presence of dynamic leaders is studied in this paper. We consider a network of agents consisting of a leader, a set of healthy agents, and a set of attacked malicious agents. The objective is developing a control strategy for the healthy agents to follow the trajectory of the leader, while they are in interaction with the unknown malicious agents. The main contribution of this paper is resilient leader–follower control of MASs when a dynamic leader determines a continuous time-varying trajectory for the MAS. By defining the concept of r -robust leader–follower graphs, we propose and analyze sufficient conditions on interaction among the agents such that the mentioned objective is achieved. Numerical examples verify the accuracy of the proposed control scheme.