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In this paper, we address the discrete-time dynamic average consensus (DAC)of a multi-agent system in the presence of adversarial attacks. The adversarialattack is considered to be of Byzantine type, which compromises the computationcapabilities of the agent and sends arbitrary false data to its neighbours. Weassume a few of the agents cannot be compromised by adversaries, which we termtrusted agents. We first formally define resilient DAC in the presence ofByzantine adversaries. Then we propose our novel Resilient Dynamic AverageConsensus (ResDAC) algorithm that ensures the trusted and ordinary agentsachieve resilient DAC in the presence of adversarial agents. The onlyrequirements are that of the trusted agents forming a connected dominating setand the first-order differences of the reference signals being bounded. We donot impose any restriction on the tolerable number of adversarial agents thatcan be present in the network. We also do not restrict the reference signals tobe bounded. Finally, we provide numerical simulations to illustrate theeffectiveness of the proposed ResDAC algorithm.

Resilient Dynamic Average Consensus based on Trusted agents