Resilient Coordination of Networked Multiagent Systems Based on   Distributed State Emulators
  This note studies resilient coordination of networked multiagent systems in the presence of misbehaving agents, i.e., agents that are subject to adversaries modeled as exogenous disturbances. Apart from the existing relevant literature that make specific assumptions on the graph topology and/or the fraction of misbehaving agents, we present an adaptive control architecture based on distributed state emulators and show that the nominal networked multiagent system behavior can be retrieved even if all agents are misbehaving. 
Tansel Yucelen and Gerardo De La Torre
math.OC math.DS