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1.
This paper deals with the privacy-preserving average consensus problem for continuous-time multi-agent network systems (MANSs) based on the event-triggered strategy. A novel event-triggered privacy-preserving consensus algorithm is designed to achieve the average consensus of MANSs while avoiding the disclosure of the agents’ initial states. Different from the approaches incorporating stochastic noises, an output mask function in the proposed algorithm is developed to make initial state of each agent indiscernible by the others. Particularly, under the output mask function, all agents can exactly tend to the average value of initial states rather than the mean square value. Under the proposed algorithm, detailed theoretical proof about average consensus and privacy of the MANSs are conducted. Moreover, the proposed algorithm is extended to nonlinear continuous-time MANSs, and the corresponding results are also derived. A numerical simulation eventually is performed to demonstrate the validity of our results.  相似文献   

2.
This paper proposes a privacy-preserving consensus algorithm which enables all the agents in the directed network to eventually reach the weighted average of initial states, and while preserving the privacy of the initial state of each agent. A novel privacy-preserving scheme is proposed in our consensus algorithm where initial states are hidden in random values. We also develop detailed analysis based on our algorithm, including its convergence property and the topology condition of privacy leakages for each agent. It can be observed that final consensus point is independent of their initial values that can be arbitrary random values. Besides, when an eavesdropper exists and can intercept the data transmitted on the edges, we introduce an index to measure the privacy leakage degree of agents, and then analyze the degree of privacy leakage for each agent. Similarly, the degree for network privacy leakage is derived. Subsequently, we establish an optimization problem to find the optimal attacking strategy, and present a heuristic optimization algorithm based on the Sequential Least Squares Programming (SLSQP) to solve the proposed optimization problem. Finally, numerical experiments are designed to demonstrate the effectiveness of our algorithm.  相似文献   

3.
Consortium chain can better combine blockchain technology with market business, so it is adopted by all walks of life and develops at a large scale. Practical Byzantine Fault Tolerance (PBFT) is more suitable for consortium chain, which are partially decentralized, resistant to Byzantine nodes and strong consistency. However, the limited network scale that PBFT can support is not conducive to the large-scale development of consortium chain. Based on the analysis of the working principle and consensus mechanism of PBFT, this study proposed an algorithm to improve PBFT: feature grouping and credit optimization Byzantine Fault Tolerance (FCBFT). In this algorithm, a feature grouping model is proposed to optimize the node structure of large-scale consortium chain, which divides large-scale network nodes into different institutions to form independent consensus groups by feature grouping. On this basis, a reputation score reward mechanism is proposed to improve the consensus efficiency of large-scale consortium chains. It introduces a reputation score calculation formula to select high-reputation primary nodes. At the same time, a replacement cycle is established to replace high-reputation nodes with low-reputation nodes, so as to optimize the consensus efficiency of the consortium chain. The experimental results show that FCBFT has shorter delay and higher throughput (TPS) than PBFT, which becomes more obvious as the number of nodes increases. After the number of nodes exceeds the threshold, the TPS of PBFT drops rapidly, while FCBFT can maintain high efficiency and stability. FCBFT's block generation speed is higher than PBFT, and its relative growth rate has steadily increased.  相似文献   

4.
This paper addresses the mean-square consensus problems of continuous-time heterogeneous multi-agent systems with communication noises. First, in order to attenuate the communication noises, time-varying consensus gains are applied in the consensus algorithm. Then, by using the tools of algebraic graph theory and stochastic analysis, sufficient conditions for the mean-square consensus are given for the cases with and without a leader. Finally, simulations are provided to demonstrate the effectiveness of the proposed algorithms.  相似文献   

5.
This paper addresses the resilient consensus problem in the presence of faulty nodes whose state updating is randomly unreliable. Unlike the existing approaches using elimination of extreme neighbor nodes with state updating or trustworthiness evaluation of neighbor nodes by historical information, this paper presents a novel multi-armed bandit based algorithm. The idea is to increase the selection probability of the so-called healthy running subsets against that of the unhealthy running subsets, according to the evaluation of the reward and credibility functions. As a result, the normal nodes in a network can achieve consensus with the influence from the faulty nodes mitigated. The algorithm can also be applied in a social network with antagonistic weights.  相似文献   

6.
In this paper, a distributed consensus algorithm for multi-mobile robot systems (MMRSs) with communication delays is proposed based on the Udwadia-Kalaba (UK) approach. The key feature of the proposed algorithm is that the consensus requirement is configured as a second-order constraint, and then a concise and explicit equation of motion for the constrained mechanical systems is formulated. Furthermore, the necessary and sufficient conditions for achieving the consensus of MMRSs with or without communication delays are developed under the network topology possessing a directed spanning tree. Finally, some numerical simulations are performed to verify the validity of the proposed consensus algorithm.  相似文献   

7.
The ability to ensure the desired performance of the cooperative-antagonistic multi-agent networks (MANs) in the presence of communication constraints is an important task in many applications of real systems. In this paper, under the proposed event-triggered condition (ETC), different types of consensus are obtained under different network topology. We concentrates on the event-based bipartite consensus. It is shown that under the proposed ETC (i) the addressed cooperative-antagonistic network with arbitrary communication delays reaches bipartite consensus provided that the network is balanced; (ii) the network model reaches zero if the network is unbalanced. Further, to avoid the continuously verifying the triggering condition, a self-triggered algorithm is proposed for realizing the bipartite consensus of the network model. A numerical example is given to illustrate the effectiveness of the theoretical results.  相似文献   

8.
《Journal of The Franklin Institute》2022,359(18):11135-11154
A class of resource allocation problems with equality constraint are considered in this paper, such as economic dispatch problem in smart grid systems, which is essentially an optimization problem. Inspired by the Lagrange multiplier method, the resource allocation problem is transformed into a multi-agent consensus problem for large-scale networked distributed nodes. A consensus-based distributed fixed-time optimization algorithm is presented, where the information exchange network is depicted by a strongly connected and weight-balanced digraph. This type of communication network can ensure that the equality constraint always holds. Moreover, a new globally fixed-time stability theorem for nonlinear systems is first given in this paper. Based on this theorem and consensus theory, the optimal resource allocation scheme can be given in a fixed time. Finally, the application and comparison of the designed algorithm show that the algorithm can effectively solve the allocation problem of power resources such as economic dispatch.  相似文献   

9.
Due to the hopeful application of gathering information from unreachable position, wireless sensor network creates an immense challenge for data routing to maximize the communication with more energy efficiency. In order to design the energy efficient routing, the optimization based clustering protocols are more preferred in wireless sensor network. In this paper, we have proposed competent optimization based algorithm called Fractional lion (FLION) clustering algorithm for creating the energy efficient routing path. Here, the proposed clustering algorithm is used to increase the energy and lifetime of the network nodes by selecting the rapid cluster head. In addition, we have proposed multi-objective FLION clustering algorithm to develop the new fitness function based on the five objectives like intra-cluster distance, inter-cluster distance, cluster head energy, normal nodes energy and delay. Here, the proposed fitness function is used to find the rapid cluster centroid for an efficient routing path. Finally, the performance of the proposed clustering algorithm is compared with the existing clustering algorithms such as low energy adaptive clustering hierarchy (LEACH), particle swarm optimization (PSO), artificial bee colony (ABC) and Fractional ABC clustering algorithm. The results proved that the lifetime of the wireless sensor nodes is maximized by the proposed FLION based multi-objective clustering algorithm as compared with existing protocols.  相似文献   

10.
[目的/意义] 多主题覆盖的枢纽节点群能够快速"导航"至领域更多主题的高被引综述文献和权威节点,从而可以使新领域工作者短时间全面了解领域已有研究、现状和未来发展趋势。[方法/过程] 本文提出一种节点群发现算法——HubsRank算法,该算法基于引文网络中节点影响力（信息、知识）的传递,通过多轮迭代,得到引文网络中多主题覆盖的枢纽节点群。[结果/结论] 最后,与HITs算法进行实证对比分析,本算法能更快、全面地提取枢纽节点群和不同主题的高被引权威节点,且该算法可以有效避免主题集聚效应。  相似文献   

11.
This paper studies the consensus problem of the multi-agent systems with parallel Luenberger observers. First, the structure of the cooperative system is established, where the output of the built-in Luenberger observer for each agent is used as its local control input and the cooperative control input combining with the cooperative measurement output is utilized as the input of the observers. Based on the structure of the closed-loop system, the consensus problem is then analyzed. In addition, two methods for designing the controller gains are provided. By virtue of the proposed structure, it is pointed out that the design of the controller gains and the observer parameters can be carried out separately. Finally, by resorting to the gradient flow method, an optimization algorithm is proposed to reduce the influence of the environmental noises. The effectiveness of the obtained results is shown through a numerical example.  相似文献   

12.
The paper proposes a decentralized state estimation method for the control of network systems, where a cooperative objective has to be achieved. The nodes of the network are partitioned into independent nodes, providing the control inputs, and dependent nodes, controlled by local interaction laws. The proposed state estimation algorithm allows the independent nodes to estimate the state of the dependent nodes in a completely decentralized way. To do that, it is necessary for each independent node of the network to estimate the control input components computed by the other independent nodes, without requiring communication among the independent nodes. The decentralized state estimator, including an input estimator, is developed and the convergence properties are studied. Simulation results show the effectiveness of the proposed approach.  相似文献   

13.
We study the consensus control of discrete-time second-order multi-agents systems with time delays and multiplicative noises, where the consensus protocol is designed by both the local relative position measurements and each agent’s absolute velocity. Due to the existence of time delays and multiplicative noises, the classical methods for deterministic models with time delays cannot work. In this paper, we apply stochastic stability theorem of discrete-time stochastic delay equations to find some explicit sufficient conditions for both mean square and almost sure consensus. It is proven that for any given noise intensities and time delays, the second-order multi-agent consensus can be achieved by choosing appropriate control gains in the relative position measurement and absolute velocity, respectively. Numerical simulation is given to demonstrate the effectiveness of the proposed protocols as well as the theoretical results.  相似文献   

14.
In distributed and cooperative systems, the network structure is determinant to the success of the strategy adopted to solve complex tasks. Those systems are primarily governed by consensus protocols whose convergence is intrinsically dependent on the network topology. Most of the consensus algorithms deal with continuous values and perform average-based strategies to reach cohesion over the exchanged information. However, many problems demand distributed consensus over countable values, that cannot be handled by traditional protocols. In such a context, this work presents an approach based on semidefinite programming to design the optimal weights of a network adjacency matrix, in order to control the convergence of a distributed random consensus protocol for variables at the discrete-space domain, based on the voter model. As a second contribution, this work uses Markov theory and the biological inspiration of epidemics to find out a dynamical spreading model that can predict the information diffusion over this discrete consensus protocol. Also, convergence properties and equilibrium points of the proposed model are presented regarding the network topology. Finally, extensive numerical simulations evaluate the effectiveness of the proposed consensus algorithm, its spreading model, and the approach for optimal weight design.  相似文献   

15.
Radio tomographic imaging (RTI) has wide applications in the detection and tracking of objects that do not require any sensor to be attached to the object. Consequently, it leads to device-free localization (DFL). RTI uses received signal strength (RSS) at different sensor nodes for imaging purposes. The attenuation maps, known as spatial loss fields (SLFs), measure the power loss at each pixel in the wireless sensor network (WSN) of interest. These SLFs help us to detect obstacles and aid in the imaging of objects. The centralized RTI system requires the information of all sensor nodes available at the fusion centre (FC), which in turn increases the communication overhead. Furthermore, the failure of links may lead to improper imaging in the RTI system. Hence, a distributed approach for the RTI system resolves such problems. In this paper, a consensus-based distributed strategy is used for distributed estimation of the SLF. The major contribution of this work is to propose a fully decentralized RTI system by using a consensus-based alternating direction method of multipliers (ADMM) algorithm to alleviate the practical issues with centralized and distributed incremental strategies. We proposed distributed consensus ADMM (DCADMM-RTI) and distributed sparse consensus ADMM (DSCADMM-RTI) for the RTI system to properly localize targets in a distributed fashion. Furthermore, the effect of quantization noise is verified by using the distributed consensus algorithms while sharing the quantized data among the neighbourhoods.  相似文献   

16.
为了提高无线传感器网络的能量利用率和延长网络的生命周期,本文提出了基于负载平衡的无线传感器网络路由算法。首先,将网络划分成多个网格,根据网格内节点的负载情况定义网格的状态,结合网格的地理位置和网格负载状态选择路由网格;其次,根据节点剩余能量和负载大小在选择的网格内选取一个合适的节点开始数据的收发工作;最后,通过模拟实验将本文算法与GPSR算法和GEAR算法进行比较。仿真结果表明,该算法有效改善了网络的负载均衡,延长了网络的生存期,并提高了网络的吞吐量。  相似文献   

17.
This paper focuses on the filtering problem for nonlinear networked systems with event-triggered data transmission and correlated noises. An event-triggered data transmission mechanism is introduced to reduce excessive measurements transmitted over a bandwidth-constrained network. Considering that process noise and measurement noise are one-step cross-correlated, an UKF-based filtering algorithm which depends on correlation parameter and trigger threshold is presented. Then sufficient conditions are established to ensure stability of the designed filter, where a critical value of the correlation parameter exists. Finally, the effectiveness of the proposed filtering algorithm is demonstrated by comparative simulations.  相似文献   

18.
This paper addresses the problem of leader-follower consensus fault-tolerant control for a class of nonlinear multi-agent systems with output constraints. Specifically, a new nonlinear state transformation function is proposed to deal with the asymmetric constraint on output. Moreover, by integrating backstepping and radial basis function neural network approaches, an adaptive consensus control framework is developed with a single parameter estimator, which mitigates the computation of control algorithm in comparison with conventional adaptive approximation based control techniques. Then an adaptive compensation method is proposed to eliminate the effect of actuator failure. Under the proposed control scheme, all the closed-loop signals of the systems are bounded and the consensus tracking error converges to an adjustable small neighborhood of zero. To evaluate the developed control algorithm, a group of four networked two-stage chemical reactors is used to illustrate the effectiveness of the theoretic results obtained.  相似文献   

19.
Under the influence of additive communication noises and system noises, we investigate the event-triggered control problem for second-order multi-agent systems composed of double integrators or LC oscillators under random denial-of-service (DoS) attacks. Different from the previous cases where the attackers completely interrupt communication networks, we consider that attackers interrupt the communication network with a specific probability and can attack part or all communication links randomly. Based on this, the conditions on the attack duration and attack success probability are given when the system can still achieve consensus under random DoS attacks. In addition, the consensus bounds are expressed. Finally, two types of LC oscillator systems are used to illustrate the effectiveness of results.  相似文献   

20.
This paper investigates the bipartite leader-following consensus of second-order multi-agent systems with signed digraph topology. To significantly reduce the communication burden, an event-triggered control algorithm is proposed to solve the bipartite leader-following consensus problem, where a novel event-triggered function is designed. Under some mild assumptions on the network topology and node dynamics, a sufficient condition is derived using Lyapunov stability method and matrix theory to guarantee the bipartite consensus. In particular, it is shown that the continuous communication can be avoided and the Zeno-behavior can be excluded for the designed event-triggered algorithm. Numerical simulations are presented to illustrate the correctness of the theoretical analysis.  相似文献   

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