Median-based resilient consensus over time-varying random networks

This brief investigates the resilient consensus control for multiagent systems over a time-varying directed random network. We propose median-based strategy, which is purely distributed and, as opposed to Weighted-Mean-Subsequence-Reduced approaches in existing literature, shared estimate regarding number of malicious agents neighborhood each cooperative agent not required. offers more applicability and flexibility seeking surrounding threats often difficult practice. In addition agents, availability communication edges accommodated network framework. Sufficient conditions are derived reaching almost sure by using martingale convergence theorem. Finally, theoretical findings illustrated numerical simulations.