Resilient Cluster Consensus of Multiagent Systems

Yilun Shang*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)
15 Downloads (Pure)


We investigate the problems of resilient cluster consensus in directed networks under three types of multiagent dynamics, namely, continuous-time multiagent systems, discrete-time multiagent systems, and switched multiagent systems composed of both continuous-time and discrete-time components. Resilient cluster censoring strategies are proposed to ensure cluster consensus against locally bounded Byzantine nodes in a purely distributed manner, where neither the number/identity of Byzantine nodes nor the division of clusters is assumed. We do not require complicated algebraic conditions or any balance conditions over intercluster structures, distinguishing the current work from previous results on cluster consensus problems besides a fortiori the attack-tolerant feature. Sufficient conditions are established in all the three scenarios based on the graph robustness. Furthermore, we solve the heterogenous cluster robustness problems and resilient scaled cluster consensus problems as extensions. The theoretical results are illustrated through numerical examples including the Santa Fe collaboration network.
Original languageEnglish
Pages (from-to)346-356
Number of pages11
JournalIEEE Transactions on Systems, Man and Cybernetics: Systems
Issue number1
Early online date11 Jun 2020
Publication statusPublished - 1 Jan 2022


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