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Distributed Asymptotic Consensus Safety-Critical Control of Multiagent Systems With Vector Control Barrier Functions
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DOI：10.1109/tcns.2026.3688921.png)
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Abstract
En 中文
This article is concerned with studying the problem of distributed asymptotic consensus safety-critical control for multiagent systems composed of cooperative agents and adversarial agents. Vector control barrier functions, which provide a tool to decompose the safety problem of cooperative agents into that of multiple lower dimensional agents, are employed to analyze the safety of cooperative multiagent systems. Note that the introduction of vector control barrier functions can reduce the complexity of safety analysis for cooperative multiagent systems. In order to handle adversarial agents, which can spread wrong or malicious information to their neighboring agents, an identification mechanism based on the mean-subsequence-reduced algorithm is applied to remove state information of adversarial agents from neighboring agents of cooperative agents, with the aim of preventing disruption of cooperative behaviors. Then, the novel distributed asymptotic consensus safety-critical control strategies are established, which can simultaneously guarantee the asymptotical consensus and safety of cooperative multiagent systems in the presence of unknown adversarial agents. Finally, a numerical example is provided to demonstrate the effectiveness of the theoretical results.
Keywords:
Adversarial agents
asymptotic consensus safety
distributed control
multiagent systems (MASs)
vector control barrier functions (VCBFs)
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