  Many algorithms have been proposed in prior literature to guarantee resilient
multi-agent consensus in the presence of adversarial attacks or faults. The
majority of prior work present excellent results that focus on discrete-time or
discretized continuous-time systems. Fewer authors have explored applying
similar resilient techniques to continuous-time systems without discretization.
These prior works typically consider asymptotic convergence and make
assumptions such as continuity of adversarial signals, the existence of a dwell
time between switching instances for the system dynamics, or the existence of
trusted agents that do not misbehave. In this paper, we expand the study of
resilient continuous-time systems by removing many of these assumptions and
using discontinuous systems theory to provide conditions for normally-behaving
agents with nonlinear dynamics to achieve consensus in finite time despite the
presence of adversarial agents.
