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Event-Triggered Differentially Private average consensus for Multi-agent Network

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IEEE/CAA Journal of Automatica Sinica 2019年第1期6卷 75-83页

作者： Aijuan Wang Xiaofeng Liao Haibo He the College of Computer Science Chongqing University the School of Electronics and Information Engineering Southwest University the Department of Electrical Computer and Biomedical EngineeringUniversity of Rhode Island Kingston IEEE Chongqing Key Laboratory of Nonlinear Circuits and Intelligent Information Processing

This paper investigates the differentially private problem of the average consensus for a class of discrete-time multi-agent network systems(MANSs). Based on the MANSs,a new distributed differentially private consensus algorithm(DPCA) is developed. To avoid continuous communication between neighboring agents, a kind of intermittent communication strategy depending on an event-triggered function is established in our DPCA. Based on our algorithm, we carry out the detailed analysis including its convergence, its accuracy, its privacy and the trade-off between the accuracy and the privacy level, respectively. It is found that our algorithm preserves the privacy of initial states of all agents in the whole process of consensus computation. The trade-off motivates us to find the best achievable accuracy of our algorithm under the free parameters and the fixed privacy level. Finally, numerical experiment results testify the validity of our theoretical analysis.

关键词： average consensus differentially private event-triggered communication multi-agent network systems (MANSs)

Distributed average consensus in Multi-agent Networks with Limited Bandwidth and Time-delays

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IEEE/CAA Journal of Automatica Sinica 2014年第2期1卷 193-203页

作者： Wenhui Liu Feiqi Deng Jiarong Liang Haijun Liu College of Automation Science and Engineering South China University of Technology School of Computer Electronics and InformationGuangxi University School of Mathematics and Statistics Zhengzhou University

This paper studies the distributed average consensus problem of multi-agent digital networks with time-delays. For the network, each agent can only exchange symbolic data with its neighbours. We provide a distributed average consensus protocol which uses the quantized and time-delay information. We consider two types of dynamic encoders/decoders in our *** uses inverse proportion function as scaling function, while the other uses exponential function as scaling function. All agents can reach average consensus asymptotically with our ***, we show that the average consensus protocol is robust to finite symmetric time-delays, but is sensitive to asymmetric time-delays that will destroy the average consensus of the networks. Finally, simulations are presented to illustrate validity of our theoretical results.

关键词： Algorithm design and analysis Bandwidth Communication channels Decoding Protocols Quantization (signal) Multi-agent networks average consensus communication constraints quantization time-delays NETWORKING AGENT Bandwidth Quantization time delay scaling function Algorithm design and analysis Communication channels DECODING protocols

Sufficient Condition for average consensus of Directed Networked Multi-agent Systems with Time Delays

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Journal of Donghua University(English Edition) 2014年第2期31卷 119-123页

作者：王朝霞杜大军费敏锐 Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronics Engineering and AutomationShanghai University School of Electrical Engineering and Automation Qilu University of Technology

The average consensus problem in a directed network of multi-agent systems with communication time delays was investigated. The directed networks were balanced and weakly connected with fixed or switching topology digraph. Based on frequency domain analysis method, a sufficient condition of asymptotic stability of multi-agent systems with time delays was obtained,where the analytic formula between the maximum time delay and the directed network structure was provided. The maximum time delay can be derived directly and easily by the eigenvalue of Laplacian L. Numerical examples confirm the effectiveness of the proposed technique.

关键词： average consensus multi-agent time delay frequency domain analysis

Sampled-data based average consensus with measurement noises: convergence analysis and uncertainty principle

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Science in China(Series F) 2009年第11期52卷 2089-2103页

作者： LI Tao ZHANG JiFeng Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China

In this paper, sampled-data based average-consensus control is considered for networks consisting of continuous-time first-order integrator agents in a noisy distributed communication environment. The impact of the sampling size and the number of network nodes on the system performances is analyzed. The control input of each agent can only use information measured at the sampling instants from its neighborhood rather than the complete continuous process, and the measurements of its neighbors＇ states are corrupted by random noises. By probability limit theory and the property of graph Laplacian matrix, it is shown that for a connected network, the static mean square error between the individual state and the average of the initial states of all agents can be made arbitrarily small, provided the sampling size is sufficiently small. Furthermore, by properly choosing the consensus gains, almost sure consensus can be achieved. It is worth pointing out that an uncertainty principle of Gaussian networks is obtained, which implies that in the case of white Gaussian noises, no matter what the sampling size is, the product of the steady-state and transient performance indices is always equal to or larger than a constant depending on the noise intensity, network topology and the number of network nodes.

关键词： multi-agent systems average consensus stochastic systems sampled-data based control distributed stochastic approximation,uncertainty principle

average consensus Problems of a Class of Multi-agent Systems against Perturbations

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Average Consensus Problems of a Class of Multi-agent Systems...

2010 Chinese Control and Decision Conference

作者： Xiuling Jiang~1,Xiaozheng Jin~2 1.College of Information Science and Engineering,Tonghua Normal University,Tonghua Jilin,134002,China 2.Key Laboratory of Manufacturing Industrial Integrated Automation,Shenyang University,Shenyang Liaoning 110044,China

＜正＞In this paper,indirect adaptive feedback control schemes are developed to solve the average consensus problem for a class of multi-agent systems with bounded *** the bound of perturbations is unknown,the adaptation laws are proposed to estimate the upper and lower bounds of perturbations *** the Lyapunov function and adaptive schemes,a class of distributed robust adaptive controllers is constructed to ensure average consensus of the state of network in the presence of external *** are provided that demonstrate the effectiveness of our theoretical results.

关键词： Multi-Agent Systems average consensus Adaptive Control Perturbations

Privacy-Preserving average consensus for Directed Graphs via State Decomposition and External Input

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Privacy-Preserving Average Consensus for Directed Graphs via...

第43届中国控制会议

作者： Jimin Wang Mengjie Xu School of Automation and Electrical Engineering University of Science and Technology Beijing Key Laboratory of Knowledge Automation for Industrial Processes Ministry of Education

This paper investigates the privacy-preserving average consensus problem for directed graphs.A privacy-preserving method is designed based on the state decomposition and external *** node arbitrarily decomposes its initial state into two substates,one of the substates is exchanged with neighbors and the other substate is retained to prevent leakage of initial state *** reduce the communication burdens,a new method instead of the push-sum algorithm is provided by introducing the external *** on this,the average consensus is achieved for the strongly connected graph.A privacy parameter during the decomposition process is designed to meet the different privacy needs of different ***,we show that this algorithm can effectively protect the privacy of the node's initial state,and meet the different privacy needs of different ***,the validity of the results is verified through a numerical example.

关键词： average consensus privacy-preserving sate decomposition external input

Sampled-Data Based average consensus Control for Networks of Continuous-Time Integrator Agents With Measurement Noises

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Sampled-Data Based Average Consensus Control for Networks of...

第二十六届中国控制会议

作者： Li Tao,Zhang Jifeng Academy of Mathematics and Systems Science,Chinese Academy of Sciences,Beijing 100080,P.R.China

In this paper,sampled-data based average-consensus control is considered for networks consisting of continuous- time first-order integrator agents under a noisy distributed communication *** impact of the sampling size and the number of network nodes on the system performances is *** control input of each agent is based only on the information measured at the sampling instants from its neighborhood rather than the complete continuous process,and the measurement of its neighbors’ states are corrupted by communication *** probability limit theory and the property of graph Laplacian,it is shown that for a connected network,when the sampling size is sufficiently small,the static mean square error between the individual state and the average initial states of all nodes is arbitrarily ***,by choosing properly the consensus gains the almost sure consensus can be *** is worth pointing out that an uncertainty principle of Gaussian networks is obtained,which tells us that in the case of white Gaussian noises,no matter what the sampling size is,the product of the static and transient performance indexes is always equal to or larger than a constant depending on the noise intensity,network topology and the number of network nodes.

关键词： Multi-agent system average consensus stochastic system sampled-data based control distributed stochastic ap- proximation uncertainty principle

Privacy Preserving Discrete-Time average consensus by Injecting Edge-based Perturbations

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Privacy Preserving Discrete-Time Average Consensus by Inject...

第40届中国控制会议

作者： Yi Xiong Zhongkui Li College of Engineering Peking University

This paper aims to solve the privacy preserving average consensus problem for discrete-time multi-agent systems over balanced graphs. The main task is to design an algorithm that can guarantee average consensus and prevent agents’ initial state values from being disclosed in the meantime. To address the problem, a novel algorithm, which adds edge-based perturbations to the system, is proposed. At the first iteration, the proposed algorithm requires each agent to generate some designed perturbation signals and add them to the edges in the network. From the second iteration, all agents simply adopt a conventional average consensus protocol. A theoretical analysis of privacy preservation properties is then presented, which shows that our algorithm can prevent both internal honest-but-curious agents and external eavesdroppers from obtaining privacy. Finally, the effectiveness of the algorithm is demonstrated by a numeric simulation.

关键词： Privacy Preservation average consensus Edge-based Perturbations Multi-agent Systems

average Convergence for Directed&Undirected Graphs in Distributed Systems

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Computer Systems Science & Engineering 2021年第6期37卷 399-413页

作者： Ali Mustafa M Najam ul Islam Salman Ahmed Bahria University Islamabad44000Pakistan Comsats University Islamabad Attock campus43600Pakistan University of Engineering&Technology Peshawar25000Pakistan

consensus control of multi-agent systems is an innovative paradigm for the development of intelligent distributed *** has fascinated numerous scientific groups for their promising applications as they have the freedom to achieve their local and global goals and make their own *** communication topologies based on graph and matrix theory are widely used in a various real-time applications ranging from software agents to ***,while sustaining the significance of both directed and undirected graphs,this research emphases on the demonstration of a distributed average consensus *** uses the harmonic mean in the domain of multi-agent systems with directed and undirected graphs under static topologies based on a control input *** proposed agreement protocol focuses on achieving a constant consensus on directional and undirected graphs using the exchange of information between neighbors to update their status values and to be able to calculate the total number of agents that contribute to the communication network at the same *** proposed method is implemented for the identical networks that are considered under the directional and non-directional communication *** different scenarios are simulated and it is concluded that the undirected approach has an advantage over directed graph communication in terms of processing time and the total number of iterations required to achieve *** same network parameters are introduced for both orientations of the communication *** addition,the results of the simulation and the calculation of various matrices are provided at the end to validate the effectiveness of the proposed algorithm to achieve consensus.

关键词： Multi-agent systems average consensus distributed estimation directed graphs undirected graphs agent counting