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This paper investigates privacy-preserving mean-square consensus in distributed heterogeneous multi-agent systems with communication noise on fixed undirected graphs.To mitigate the impact of communication noise, we introduce a stochastic approximation step rule in the control protocol.Utilizing graph theory, stochastic analysis, and Lyapunov theory, consensus conditions are derived.Subsequently, a cryptographic cryptosystem encrypts the designed protocol, safeguarding against eavesdropping and information privacy loss between agents during consensus.Numerical simulations confirm the efficacy of the proposed consensus protocol and privacy protection algorithm.
Yang et al. (Thu,) studied this question.