Resilient Formation-Tracking of Double-Integretor Multi-agent Systems against Byzantine Attacks

This article studies resilient formation tracking of multi-agent systems (MASs) against Byzantine attacks in a second-order system. Since Byzantine agents broadcast erroneous information to their neighbors, this paper proposes a safe centroid aggregation-based formation control strategy to enhance system robustness under Byzantine attacks. By setting the safe centroid as the leader and tracking it, all normal agents adjust their positions and velocities concerning the safe centroid, thereby maintaining the predetermined formation shape. The experimental results show that the proposed control strategy effectively ensures that normal agents maintain the desired formation shape, despite the presence of Byzantine agents. This demonstrates strong robustness and adaptability.