Consensus Tracking of Multi-Agent Systems in The Presence of Byzantine Agents Using Model Predictive Control

Rezaei M. A., Bagheri P., Hashemzadeh F.

8th International Conference on Control, Instrumentation and Automation, ICCIA 2022, Virtual, Online, Iran, 2 - 03 March 2022 identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/iccia54998.2022.9737185
  • City: Virtual, Online
  • Country: Iran
  • Keywords: Byzantine agent, Consensus Tracking, Model Predictive Control, Multi-Agent Systems, W-MSR Algorithm
  • Istanbul Technical University Affiliated: No


This paper deals with the consensus tracking of multi-agent systems in the presence of some Byzantine agents. Steering the agents toward a predefined reference via model predictive control and, besides, encountering the misbehaving agents, are the main aims of the paper. Using graph properties alongside the Weighted-Mean-Subsequence-Reduced (W-MSR) algorithm led to a control method for special kinds of multi-agent systems. Combining model predictive control with W-MSR results in a new algorithm called Reference-Based-W-MSR (RBW-MSR), which has made the consensus point fixed according to a predetermined reference. The effectiveness of the proposed algorithm would be illustrated via simulation results in which different scenarios have been examined to exhibit the success of the method.