  In this paper, we address the discrete-time dynamic average consensus (DAC)
of a multi-agent system in the presence of adversarial attacks. The adversarial
attack is considered to be of Byzantine type, which compromises the computation
capabilities of the agent and sends arbitrary false data to its neighbours. We
assume a few of the agents cannot be compromised by adversaries, which we term
trusted agents. We first formally define resilient DAC in the presence of
Byzantine adversaries. Then we propose our novel Resilient Dynamic Average
Consensus (ResDAC) algorithm that ensures the trusted and ordinary agents
achieve resilient DAC in the presence of adversarial agents. The only
requirements are that of the trusted agents forming a connected dominating set
and the first-order differences of the reference signals being bounded. We do
not impose any restriction on the tolerable number of adversarial agents that
can be present in the network. We also do not restrict the reference signals to
be bounded. Finally, we provide numerical simulations to illustrate the
effectiveness of the proposed ResDAC algorithm.
