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Consensus of Hybrid Multi-Agent Systems With Malicious Nodes

This brief investigates resilient consensus problems of hybrid multi-agent systems containing both continuous-time dynamical agents and discrete-time dynamical agents. A hybrid censoring strategy is developed to reach resilient consensus for cooperative agents in the directed networks in which some Byzantine agents are present. The number, location, and dynamics of Byzantine agents are assumed to be unavailable to the cooperative agents. Sufficient conditions based on network robustness are established when the number of Byzantine agents is locally bounded. They are further extended to cope with resilient scaled hybrid consensus where dictated ratios instead of a common value can be reached. Numerical examples are presented to illustrate the theoretical results.