Visible to the public Biblio

Filters: Author is Hale, Matthew T.  [Clear All Filters]
Zegers, Federico M., Hale, Matthew T., Shea, John M., Dixon, Warren E..  2020.  Reputation-Based Event-Triggered Formation Control and Leader Tracking with Resilience to Byzantine Adversaries. 2020 American Control Conference (ACC). :761—766.
A distributed event-triggered controller is developed for formation control and leader tracking (FCLT) with robustness to adversarial Byzantine agents for a class of heterogeneous multi-agent systems (MASs). A reputation-based strategy is developed for each agent to detect Byzantine agent behaviors within their neighbor set and then selectively disregard Byzantine state information. Selectively ignoring Byzantine agents results in time-varying discontinuous changes to the network topology. Nonsmooth dynamics also result from the use of the event-triggered strategy enabling intermittent communication. Nonsmooth Lyapunov methods are used to prove stability and FCLT of the MAS consisting of the remaining cooperative agents.