Event-Triggered-Based Security Predefined-Time Flocking Control for Networked Agent Systems

Security of information interactions and rapid emergence of self-organized behaviors are key factors for flocking control. With this in mind, the security predefined-time flocking control problem of networked agent systems is addressed in this paper. Theoretically, by utilizing the time-varying transformation function to hide the real state values of agents, an event-triggered-based control scheme with predefined-time convergence is designed. Firstly, a decentralized (executed separately by every agent) time-varying transformation is adopted to encrypt agents' real states. Thus, agents can encode their true states using unique keys, rendering initial states impervious to decipherable by others. On the basis, the predefined-time flocking controller is proposed such that self-organized behavior of agents emerges within a specified time. Furthermore, the utilization of event-triggered mechanism effectively alleviates the burden on the actuator caused by frequent updates, concurrently reducing communication computational resource consumption. Finally, some numerical simulations are performed to testify the effectiveness of proposed flocking control scheme.