Correspondence Yuanshi Zheng, Center for Complex Systems, School of Mechano-electronic Engineering, Xidian University, Xi’an 710071, P. R. China. Email: zhengyuanshi2005@163.com Summary This article studies consensus of a group of heterogeneous agents with first-order and second-order integrator dynamics in presence of malicious agents. We employ the algorithm where each normal agent ignores large and small relative state values of its neighbors to mitigate the effects of malicious agents. Assuming that the maximum number of malicious agents in the neighborhood of each agent is known, sufficient topological condition is obtained to guarantee resilient consensus in directed networks. The result is further extended to heterogeneous multiagent systems with bounded communication delays. Moreover, impulsive control strategy is introduced in the update schemes and sufficient condition in terms of graph robustness is provided for resilient consensus. Numerical examples are provided to illustrate the effectiveness of the theoretical results.

中文翻译：

---

基于采样数据的异构多智能体系统弹性共识

通讯作者 郑元世，西安电子科技大学机电工程学院复杂系统研究中心，西安 710071。Email: zhengyuanshi2005@163.com 摘要 本文研究了一组异构代理在恶意代理存在下具有一阶和二阶积分器动力学的共识。我们采用每个正常代理忽略其邻居的大小相对状态值的算法来减轻恶意代理的影响。假设已知每个代理邻域中恶意代理的最大数量，则获得足够的拓扑条件以保证有向网络中的弹性共识。结果进一步扩展到具有有限通信延迟的异构多代理系统。而且，更新方案中引入了脉冲控制策略，并为弹性共识提供了图鲁棒性方面的充分条件。提供了数值例子来说明理论结果的有效性。