Event-Triggered Privacy-Preserving Consensus Control With Edge-Based Additive Noise

In this article, we propose a novel event-triggered distributed privacy-preserving consensus scheme for linear continuous-time multiagent systems, 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. 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. Based on stochastic analysis and graph theory, we analyze the asymptotic property and convergence accuracy of the consensus error, the privacy of the privacy-preserving scheme, and the Zeno behavior of the event-triggered mechanism. Finally, a numerical simulation is given to illustrate the effectiveness of the proposed scheme.