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Event-trigger Optimal Consensus for Multi-agent System Subject to Differential Privacy
Tao Dong,Huiyun Zhu,Wenjie Hu 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.9
Optimal consensus algorithm is a very useful consensus algorithm for distributed cooperative control, which makes all the agents not only achieve consensus but also minimize the cost function. However, to achieve consensus, agents need to exchange their state with each other on public channel. If attackers want to obtain the privacy information of agents, they only need to monitor the public channel. To solve this problem, a novel eventtriggered differentially privacy optimal consensus algorithm is proposed to preserve the privacy of the cost function of each agent in the whole process of consensus computation. Based on event-trigger condition, we analyze the consensus of our algorithm in detail, including the accuracy and consensus conditions. In addition, the privacypreserving analysis are also given, which exhibits that privacy of the states of all agents can be preserved. The privacy level and the sensitivity of the differential privacy are also obtained. Finally, a numerical simulation is givento illustrate the effectiveness of the theoretical results.
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