Dynamic Event-Triggered Byzantine-Resilient Output Regulation in Continuous-Time High-Order Multiagent Systems With Static/Dynamic Leader

As a critical security threat, Byzantine attacks in nodes sending tampered data to their neighbors in networks, significantly undermining the robustness of networked systems. This paper focuses on the leader-follower resilient consensus of continuous-time heterogeneous multiagent systems against Byzantine attacks on nodes. Considering the excessive communication burden in practice, a distributed dynamic event-triggered mechanism is devised to enable intermittent communication among agents. Building upon this mechanism, two protocols are applied to achieve the output consensus when the leader converges to dynamic and static states, respectively. The latter protocol can decrease both communication data and the frequency of event triggers when the leader converges to a static state. In addition, the output regulation control for uncertain system dynamics is achieved by utilizing the technique of internal model principle. Moreover, the designed event-triggered mechanism can be employed to the networks with bounded communication delays. Finally, the effectiveness of the designed protocols is demonstrated by some numerical simulations.