不确定马尔科夫切换拓扑下多智能体系统的隐私保护与安全协同控制

陈向勇; 王泽明; 赵旭东; 黄廷文; 赵峰

doi:10.16383/j.aas.c250738

不确定马尔科夫切换拓扑下多智能体系统的隐私保护与安全协同控制

doi: 10.16383/j.aas.c250738 cstr: 32138.14.j.aas.c250738

陈向勇^{1, 2,},
王泽明^1,,
赵旭东^2,,
黄廷文^3,,
赵峰^1,

1.
临沂大学自动化与电气工程学院临沂 276000
2.
大连理工大学控制科学与工程学院大连 116000
3.
深圳理工大学计算机科学与控制工程学院深圳 518005

基金项目: 国家自然科学基金(62173175, 62533004, 62573219, 62576223, U25A20455, 62473226), 山东省自然科学基金(ZR2024MF032, ZR2024QF039)资助

详细信息

作者简介:
陈向勇：大连理工大学控制科学与工程学院和临沂大学自动化与电气工程学院教授. 主要研究方向为复杂网络控制与优化, 无人集群协同控制及应用. E-mail: chenxiangyong@dlut.edu.cn

王泽明：临沂大学自动化与电气工程学院硕士研究生. 主要研究方向为多智能体系统一致性控制. E-mail: w18753885515@163.com

赵旭东：大连理工大学控制科学与工程学院教授. 主要研究方向为多信息物理系统控制, 混杂系统控制, 多智能体系统. E-mail: xudongzhao@dlut.edu.cn

黄廷文：深圳理工大学计算机科学与控制工程学院教授. 主要研究方向为多智能体系统, 自适应控制, 最优控制. E-mail: huangtw2024@163.com

赵峰：临沂大学自动化与电气工程学院副教授. 主要研究方向为多随机系统稳定, 鲁棒控制, 滤波. 本文通信作者. E-mail: fzhao1986163@163.com

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出版历程
- 收稿日期: 2025-12-23
- 录用日期: 2026-03-16
- 网络出版日期: 2026-08-13

Privacy Preservation and Secure Cooperative Control of Multi-Agent Systems Under Uncertain Markov Switching Topologies

1.
School of Automation and Electrical Engineering, Linyi University, Linyi 276000
2.
School of Control Science and Engineering, Dalian University of Technology, Dalian 116000
3.
Faculty of Computer Science and Control Engineering, Shenzhen University of Advanced Technology, Shenzhen 518005

Funds: Supported by National Natural Science Foundation of China (62173175, 62533004, 62573219, 62576223, U25A20455, 62473226) and Natural Science Foundation of Shandong Province (ZR2024MF032, ZR2024QF039)

More Information

Author Bio:
CHEN Xiang-Yong　Professor at the School of Control Science and Engineering, Dalian University of Technology, and the School of Automation and Electrical Engineering, Linyi University. His research interest include complex network control and optimization, unmanned cluster collaborative control and application

WANG Ze-Ming　Master student at the School of Automation and Electrical Engineering, Linyi University. His research interest include consensus control of multi-agent systems

ZHAO Xu-Dong　Professor at the School of Control Science and Engineering, Dalian University of Technology. His research interest include multi-information physical system control, hybrid system control, and multi-agent systems

HUANG Ting-Wen　Professor at the Faculty of Computer Science and Control Engineering, Shenzhen University of Advanced Technology. His research interest include multi-agent systems, adaptive control, and optimal control

ZHAO Feng　Associate professor at the School of Automation and Electrical Engineering, Linyi University. His research interest include multi-stochastic system stability, robust control, filtering. Corresponding author of this paper

摘要

摘要: 本文研究了隐私保护和不确定马尔科夫切换拓扑下多智能体系统(MASs)的安全协同控制问题. 首先, 采用更具一般性的马尔科夫过程描述多智能体系统的网络拓扑结构, 考虑转换率矩阵包含不确定与部分未知元素的情况. 其次, 为抵御隐私窃听者对状态信息的窃取, 设计保护时长可根据实际需求灵活调整的隐私保护机制. 进而, 考虑系统存在执行器故障与随机发生的虚假数据注入攻击的场景, 通过综合利用估计状态信息与历史触发信息, 设计基于动态记忆事件触发的神经网络自适应控制策略. 最后, 通过仿真模拟对所提理论结果的有效性进行验证.
- 多智能体系统 /
- 安全协同控制 /
- 隐私保护 /
- 马尔科夫切换拓扑 /
- 动态记忆事件触发
Abstract: This paper investigates the security cooperative control problem of multi-agent systems(MASs) under Markov switching topology with uncertainties and privacy preservation. Firstly, a more general Markov process with a transition rate matrix containing uncertain and partially unknown elements is employed to characterize the network topology structure of the multi-agent systems. Secondly, to counteract eavesdropping attempts on state information by privacy intruders, a privacy preservation mechanism with adjustable protection duration is designed according to practical requirements. Moreover, for scenarios where the system is subject to actuator faults and stochastic false data injection attacks, a class of adaptive control strategies based on dynamic memory event-triggered mechanisms is proposed by integrating estimated state information and historical triggering data. Finally, simulation experiments are conducted to verify the effectiveness of the developed theoretical results.
- Multi-agent systems /
- secure cooperative control /
- privacy preservation /
- markov switching topologies /
- dynamic memory event-triggered

HTML全文

图 1 MASs拓扑结构

Fig. 1 Topology corresponding to MASs

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图 2 0 ~ 2号智能体状态

Fig. 2 States of agents 0 ~ 2

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图 3 3 ~ 5号智能体状态

Fig. 3 States of agents 3 ~ 5

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图 4 0 ~ 2号掩码智能体状态

Fig. 4 State of masked agents 0 ~ 2

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图 5 3 ~ 5号掩码智能体状态

Fig. 5 State of the masked agents 3 ~ 5

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图 6 1 ~ 3号智能体相对于0号的误差

Fig. 6 Errors of agents 1 ~ 3 relative to 0

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图 7 4 ~ 5号智能体相对于0号的误差

Fig. 7 Errors of agents 4 ~ 5 relative to 0

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图 8 触发时刻

Fig. 8 Triggering moment

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图 9 动态参数$\chi (t) $

Fig. 9 Auxiliary variable $\chi (t) $

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