Event-Triggered Resilient Consensus of Networked Euler–Lagrange Systems Under Byzantine Attacks

The resilient consensus problem is investigated in this article for a class of networked Euler–Lagrange systems with event-triggered communication in the presence of Byzantine attacks. One challenge that we face in addressing the considered problem is the inapplicability of existing resilient decision algorithms designed for 1-D multiagent systems. This is because the networked Euler–Lagrange systems fall into the category of multi–dimensional multiagent systems with coupling among state vector components. To address this problem, we propose a new resilient decision algorithm. This algorithm constructs auxiliary variables related to the coordinative objectives for each normal agent and transforms the considered resilient consensus problem into the consensus problem of the designed auxiliary variables. Furthermore, to relax the constraints imposed on Byzantine agent behavior patterns within continuous-time scenarios, the event-triggered communication scheme is adopted. Finally, the effectiveness of the proposed algorithm is demonstrated through case studies.