  The problem of consensus in the presence of misbehaving agents has
increasingly attracted attention in the literature. Prior results have
established algorithms and graph structures for multi-agent networks which
guarantee the consensus of normally behaving agents in the presence of a
bounded number of misbehaving agents. The final consensus value is guaranteed
to fall within the convex hull of initial agent states. However, the problem of
consensus tracking considers consensus to arbitrary reference values which may
not lie within such bounds. Conditions for consensus tracking in the presence
of misbehaving agents has not been fully studied. This paper presents
conditions for a network of agents using the W-MSR algorithm to achieve this
objective.
