Resilient consensus in continuous-time networks with ℓ-hop communication and time delay

This paper studies the problem of resilient consensus in continuous-time multiagent systems against potential malicious agents. Network topology conditions have been developed to ensure asymptotic consensus of cooperative agents in the network under multi-hop communication and path-dependent heterogeneous delays. We develop two new distributed protocols based on the idea of weighted mean subsequence reduced algorithm to address scalar resilient consensus and vector resilient consensus problems in path-weighted directed networks leveraging on the capability of multi-hop communication. Our frameworks are flexible in that both linear and general nonlinear network coupling functions are featured. Resilient consensus problem for dynamical agents with higher-order integrators is solved as a byproduct. We illustrate the error introduced by the resilience mechanisms when the network is free of malicious agents through numerical simulations