Resilient Optimal Tracking of Output Formation for Open Multiagent Systems With Time-Varying Malicious Agents

This article focuses on resilient time-varying optimal tracking problems of output formation in open multiagent systems (MASs). Agents can join or exit at any time and may be subject to switching between normal and malicious identities. Normal agents in the open MAS aim to minimize the sum of their local time-varying composite objective functions, each consisting of an output-related term and a state-related nonsmooth term. Simultaneously, agents are required to maintain a given output formation configuration. Based on relative outputs from neighbors, a distributed tracking protocol is proposed, combining the subgradient method with proximal mapping and an adaptive aggregation technique. By analyzing the upper bounds of total dynamic regret and individual dynamic regrets, it is proved that resilient optimal tracking of output formation can be achieved without knowledge of agent identities. Simulations validate these results.