Control of Multiagent Networks With Misbehaving Nodes Over Directed Graph Topologies
Emre Yildirim, Tansel Yucelen · IEEE Transactions on Control of Network Systems · 2025
The contribution of this paper is to study multiagent networks over directed graph topologies that involve nodes subject to exogenous disturbances (i.e., misbehaving nodes) and nodes receive feedback control signals (i.e., driver nodes) for the purpose of suppressing the adverse effects of misbehaving nodes, where the number of driver nodes can be less than the total number of nodes in the multiagent network. Specifically, we propose proportional-integral feedback controllers to be executed by the driver nodes, where these controllers guarantee the stability of the overall multiagent network in the sense of input-to-state stability (i.e., they make the resulting closed-loop system matrix Hurwitz). Furthermore, we utilize a graph-theoretical approach that allows users to find the steady-state values of critical nodes without requiring the knowledge of the Laplacian matrix of the overall multiagent network. The results presented in this paper pave the way for understanding how the driver nodes need to be selected to suppress the effect of misbehaving nodes on the neighborhood of the critical nodes, which is further illustrated through illustrative numerical examples.