Several algorithms in prior literature have been proposed, which guarantee the consensus of normally behaving agents in a network that may contain adversarially behaving agents. These algorithms guarantee that the consensus value lies within the convex hull of initial normal agents' states, with the exact consensus value possibly being unknown. In leader-follower consensus problems, however, the objective is for normally behaving agents to track a reference state that may take on values outside of this convex hull. In this paper, we present methods for agents in time-varying graphs with discrete-time dynamics to resiliently track a reference state propagated by a set of leaders, despite a bounded subset of the leaders and followers behaving adversarially. Our results are demonstrated through simulations.

中文翻译：

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时变图中任意参考值的弹性领导者-跟随者共识


先前文献中已经提出了几种算法，这些算法保证了可能包含敌对行为主体的网络中正常行为主体的共识。这些算法保证共识值位于初始正常代理状态的凸包内，而确切的共识值可能是未知的。然而，在领导者-追随者共识问题中，目标是让正常行为的智能体跟踪可能采用凸包之外的值的参考状态。在本文中，我们提出了具有离散时间动态的时变图中的代理方法，以弹性地跟踪一组领导者传播的参考状态，尽管领导者和追随者的有界子集表现得敌对。我们的结果通过模拟得到证明。