Event-Based Privacy Preserving Resilient Leader-Follower Consensus Control against Cyber-Attacks in Multi-Agent Cyber-Physical Systems

This article addresses the event-triggered privacy preserving leader-follower consensus control problem for linear Multi-Agent Cyber-Physical Systems (MACPS) subject to cyber-attacks. A novel framework is proposed that combines virtual dynamics, event-triggered communication, and cyber-attack estimation to achieve output consensus while preserving agent privacy and system resilience against cyber-attacks. By introducing event-triggered virtual nodes, we enhance privacy of the agents while also managing communication resources efficiently by reducing data transmissions. To mitigate the effects of cyber-attacks, auxiliary systems are employed to estimate cyber-attack signals, enabling the design of a resilient control law to achieve leader-follower consensus in a Uniformly Ultimately Bounded (UUB) sense. Finally, Simulation results demonstrate the effectiveness of the proposed method in achieving leader-follower consensus despite cyber-attacks and communication limitations.