Strategic Topology Switching for Security-Part I: Consensus & Switching Times

11/30/2017

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by   Yanbing Mao, et al.

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This two-part paper considers strategic topology switching for the second-order multi-agent system under attack. In Part I, we propose a strategy on switching times that enables the strategic topology-switching algorithm proposed in Part II to reach the second-order consensus in the absence of attacks. The control protocol introduced to the multi-agent system is governed only by the relative positions of agents. Based on the stability of switched linear systems, the strategy on the dwell time of topology-switching signal is derived. The primary advantages of the strategy in achieving the second-order consensus are: 1) the control protocol relies only on relative position measurements, no velocity measurements are needed; 2) the strategy has no constraint on the magnitude of coupling strength. Simulations are provided to verify the effectiveness of strategic topology switching in achieving the second-order consensus.