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The problem of consensus in the presence of adversarially behaving agents hasbeen studied extensively in the literature. The proposed algorithms typicallyguarantee that the consensus value lies within the convex hull of initialnormal agents' states. In leader-follower consensus problems however, theobjective for normally behaving agents is to track a time-varying referencestate that may take on values outside of this convex hull. In this paper wepresent a method for agents with discrete-time dynamics to resiliently track aset of leaders' common time-varying reference state despite a bounded subset ofthe leaders and followers behaving adversarially. The efficacy of our resultsare demonstrated through simulations.

Resilient Leader-Follower Consensus with Time-Varying Leaders in Discrete-Time Systems