Consistency of Continuous Multi-agent Systems with Privacy Protection

In order to solve the privacy protection problem of a group of continuous multi-agent with communication delay, a consistency algorithm with privacy function is designed, which can make the agent converge to the common value accurately by using event triggering mechanism. Firstly, the condition of privacy protection function is given, and a function which can hide the real state of agents is constructed. Then, the consistency algorithm is proposed, and the convergence analysis is given. Ultimately, the effectiveness and feasibility of the designed formation algorithm are confirmed by simulation experiments.