  In this paper we consider the problem of a multi-agent system achieving a
formation in the presence of misbehaving or adversarial agents. We introduce a
novel continuous time resilient controller to guarantee that normally behaving
agents can converge to a formation with respect to a set of leaders. The
controller employs a norm-based filtering mechanism, and unlike most prior
algorithms, also incorporates input bounds. In addition, the controller is
shown to guarantee convergence in finite time. A sufficient condition for the
controller to guarantee convergence is shown to be a graph theoretical
structure which we denote as Resilient Directed Acyclic Graph (RDAG). Further,
we employ our filtering mechanism on a discrete time system which is shown to
have exponential convergence. Our results are demonstrated through simulations.
