Distributed event-triggered-based encrypted control for nonlinear multi-agent systems via privacy-preserving approach

In this paper, the problem of data-driven consensus control is discussed for nonlinear multi-agent systems with limited bandwidth resources and fading channels. To achieve a level of privacy for transmitting signals while mitigating the burden of communication networks, an improved distributed dynamic event-triggered scheme with two internal variables is proposed to allocate limited resources. Therefore, the event-driven encryption-decryption algorithm with multi-symmetric keys is utilized to prevent the leakage of dynamics information. Furthermore, a compensation scheme is designed to assuage the adverse effects of fading communication channels on signals. Leveraging the improved dynamic linearization technology, the distributed model-free adaptive security control (MFASC) law is designed to achieve the leaderless consensus control objective within the unified framework. Eventually, the availability and effectiveness of the distributed MFASC method are illustrated by numerical and practical examples.