In this article, we investigate the distributed privacy preserving weighted consensus control problem for linear continuous-time multi-agent systems under the event-triggering communication mode. A novel event-triggered privacy preserving consensus scheme is proposed, which can be divided into three phases. First, for each agent, an event-triggered mechanism is designed to determine whether the current state is transmitted to the corresponding neighbor agents, which avoids the frequent real-time communication. Then, to protect the privacy of initial states from disclosure, the edge-based mutually independent standard white noise is added to each communication channel. Further, to attenuate the effect of noise on consensus control, we propose a stochastic approximation type protocol for each agent. By using the tools of stochastic analysis and graph theory, the asymptotic property and convergence accuracy of consensus error is analyzed. Finally, a numerical simulation is given to illustrate the effectiveness of the proposed scheme.

翻译：本文研究了线性连续时间多智能体系统在事件触发通信模式下实现分布式隐私保护加权一致性控制的问题。提出了一种新颖的事件触发隐私保护一致性方案，该方案分为三个阶段。首先，为每个智能体设计了一个事件触发机制，以确定当前状态是否传输给相应的邻居智能体，从而避免了频繁的实时通信。其次，为保护初始状态不被泄露，在每个通信信道上添加了边独立的加性标准白噪声。进一步地，为削弱噪声对一致性控制的影响，本文为每个智能体提出了一种随机逼近型协议。利用随机分析与图论工具，分析了一致性误差的渐近性质与收敛精度。最后，通过数值仿真验证了所提方案的有效性。