Privacy-Preserving Leaderless and Leader-Following Consensus Based on Event-Triggered Mechanism

This paper mainly studies the privacy-preserving consensus problems of first-order discrete multi-agent systems via event-triggered control. In order to realize ciphertext interaction to protect the privacy of each agent in the communication network, while reducing the cost of cryptographic calculation and additional communication consumption, a confidential interaction protocol under the event-triggered mechanism (ETM) is constructed, a ETM compatible with the confidential interaction protocol is proposed, whose implementation only relies on the information that agents can obtain through the proposed confidential interaction protocol. In addition, the communication rules between agents using the confidentiality interaction protocol under the event trigger mechanism is clearly stated. The feasibility of ETMs are proved theoretically and the effectiveness of the theoretical results are demonstrated by numerical simulations.