In this article, we investigate the distributed privacy preserving weighted consensus control problem for linear continuous-time multi-agent systems under the event-triggering communication mode. A novel event-triggered privacy preserving consensus scheme is proposed, which can be divided into three phases. First, for each agent, an event-triggered mechanism is designed to determine whether the current state is transmitted to the corresponding neighbor agents, which avoids the frequent real-time communication. Then, to protect the privacy of initial states from disclosure, the edge-based mutually independent standard white noise is added to each communication channel. Further, to attenuate the effect of noise on consensus control, we propose a stochastic approximation type protocol for each agent. By using the tools of stochastic analysis and graph theory, the asymptotic property and convergence accuracy of consensus error is analyzed. Finally, a numerical simulation is given to illustrate the effectiveness of the proposed scheme.
翻译:在本文中,我们研究了事件触发通信模式下线性连续时间多智能体 系统的分布式隐私保护加权共识控制问题。提出了一种新的事件触发隐私保 护共识方案,该方案可以分为三个阶段。首先,为了确定当前状态是否被 传递给相应的邻居智能体,设计了一种事件触发机制,避免了频繁的实时 通信。然后,为防止初始状态泄露,将基于边缘的相互独立的标准白噪声添加到每个通信信道中。此外,为了衰减噪声对共识控制的影响,对每个智能体提出了一种随机逼近 类型协议。通过使用随机分析和图论工具,分析了共识误差的渐近特性和收敛 精度。最后,给出了一个数字模拟,以说明所提出的方案的有效性。