Game-Based Event-Triggered Privacy-Preserving Consensus Control of Nonlinear Multi-Agent Systems with Non-Uniform Decomposition

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Abstract
It is a critical issue for achieving privacy-preserving consensus for nonlinear multi-agent systems (MASs) with triggered conditions and consensus performance. A game-based event-triggered privacy-preserving consensus control scheme is proposed with a non-uniform decomposition. For a nonlinear MAS with known dynamics, a non-uniform-decomposed privacy-preserving consensus scheme is constructed, and this scheme is further improved for a nonlinear MAS with unknown dynamics via neural network identification methods. With the non-uniform decomposition technique, each agent is decomposed into interactive substrates and internal substates respectively, and two different positive weight factors are introduced into the interaction between the two substates. Eavesdroppers are not able to reconstruct all information from the non-uniform-decomposed interactive signals within communication networks. In the framework of non-uniform decomposition, a privacypreserving game-based event-triggered mechanism (PP-GETM) is also designed by partial interactive information, where an agent’ performance and its triggered error are regarded as the two players in a zero-sum game in the decomposed substate. Then, with the Lyapunov function, it is proven that, with the non-uniform decomposed consensus control schemes, all the signals in the closed-loop MAS are guaranteed to be bounded with the private-preserving objective. Also, Zeno behaviors are excluded with the proposed PP-GETM. Finally, two numerical examples are given to verify the effectiveness of the proposed scheme.
Funding Information
  • National Natural Science Foundation of China (62473204)
  • National Natural Science Foundation of China (62473345)

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