In this paper, we first address adverse effects of attacks on distributed synchronization of multi-agent systems, by providing conditions under which an attacker can destabilize the underlying network, as well as another set of conditions under which local neighborhood tracking errors of intact agents converge to zero. Based on this analysis, we propose a Kullback–Libeler divergence based criterion in view of which each agent detects its neighbors’ misbehavior and, consequently, forms a self-belief about the trustworthiness of the information it receives. Agents continuously update their self-beliefs and communicate them with their neighbors to inform them of the significance of their outgoing information. Moreover, if the self-belief of an agent is low, it forms trust on its neighbors. Agents incorporate their neighbors’ self-beliefs and their own trust values on their control protocols to slow down and mitigate attacks. We show that using the proposed resilient approach, an agent discards the information it receives from a neighbor only if its neighbor is compromised, and not solely based on the discrepancy among neighbors’ information, which might be caused by legitimate changes, and not attacks. The proposed approach is guaranteed to work under mild connectivity assumptions.

在本文中，我们首先通过提供攻击者可以破坏底层网络稳定的条件以及完整代理的本地邻域跟踪误差收敛的另一组条件来解决攻击对多代理系统分布式同步的不利影响归零。基于此分析，我们提出了一个基于Kullback-Libeler散度的标准，据此，每个代理都可以检测到其邻居的不当行为，因此，对接收到的信息的可信度形成了自信。特工不断更新自己的信仰，并与邻居沟通，以告知他们传出信息的重要性。此外，如果代理人的自信心低下，它将对邻居产生信任。代理将邻居的自我信念和自己的信任值纳入控制协议，以减慢和缓解攻击。我们表明，使用提议的弹性方法，代理仅在邻居受到损害时才丢弃从邻居接收的信息，而不仅仅是基于邻居信息之间的差异（可能由合法更改而不是攻击造成的）来丢弃。所建议的方法可以保证在温和的连接性假设下工作。