On the security of linear consensus networks

Abstract—This work considers the problem of reaching consensus in an unreliable linear consensus network. A solution to this problem is relevant for several tasks in multi-agent systems including motion coordination, clock synchronization, and cooperative estimation. Only relying on their direct measurements, the agents detect and identify uncooperative behaviors using unknown input observer techniques. By modelling the misbehaving nodes as unknown and unmeasurable inputs affecting the network, we recast the problem into a system theoretic framework. We consider both the cases of Byzantine as well as non-colluding faults, and we express the solvability conditions of the two cases in terms of the observability properties of a linear system associated with the network. It is shown that generically any node can correctly detect and identify the misbehaving nodes, provided that the connectivity of the network is sufficiently high. Precisely, for a linear consensus network to be generica...

• Type: Conference
• Year: 2009
• Where: CDC
• Authors: Fabio Pasqualetti, Antonio Bicchi, Francesco Bullo
• Keywords: CDC 2009, Control Systems, Linear Consensus Network, Unknown Input Observer, Unreliable Linear Consensus