Privacy Preservation Distributed Tracking Consensus with Secure Event-Based Control for Nonlinear Multiagent System

In this paper, the distributed tracking consensus control for a nonlinear multiagent system with the event trigger mechanism and quantization is investigated and the privacy preservation for each agent is researched. Firstly, a nonlinear multiagent system with quantized states and control signals is considered. The stability of the system influenced by quantization and triggering mechanism with time-varying thresholds is proved. Moreover, to protect the privacy concerning the states, control signals, and trigger thresholds of agents, a privacy-preserving diagram is proposed based on addictive homomorphic encryption and a secure comparison algorithm. The security and the impact on the stability of the proposed diagram is discussed. Finally, a comparison experiment demonstrates that the proposed privacy preservation control strategy achieves better tracking accuracy, reduces more communication burden and guarantees the security of the privacy of systems.