Resilient cluster consensus for discrete-time high-order multi-agent systems against malicious adversaries

This paper studies the problem of resilient cluster consensus for discrete-time high-order multi-agent systems in the presence of malicious adversaries. Based on a decomposition form of the system matrices, a high-order resilient cluster consensus algorithm is proposed. Necessary and sufficient conditions for the normal agents to reach resilient cluster consensus despite the influence of the malicious adversaries are provided. In contrast to the existing results, the proposed algorithm is suitable for general high-order multi-agent systems and can reduce the network redundancy needed to tolerate the same number of malicious adversaries. Two examples are simulated to validate the effectiveness of the theoretical results. (c) 2023 Elsevier Ltd. All rights reserved.