Nonlinear Multiagent Systems-Oriented Privacy Protection and Convergence Predefinition

Bingjie Ding; Peihao Du; Xiaojie Peng; Yan Lei; Hongyi Li

doi:10.1109/JAS.2025.125969

Volume 13 Issue 8

Aug. 2026

IEEE/CAA Journal of Automatica Sinica

JCR Impact Factor: 18.3, Top 1 (SCI Q1)

CiteScore: 28.2, Top 1% (Q1)
Google Scholar h5-index: 95， TOP 5

Turn off MathJax

Article Contents

Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2026 > 13(8): 1854-1864

B. Ding, P. Du, X. Peng, Y. Lei, and H. Li, “Nonlinear multiagent systems-oriented privacy protection and convergence predefinition,” IEEE/CAA J. Autom. Sinica, vol. 13, no. 8, pp. 1854–1864, Aug. 2026. doi: 10.1109/JAS.2025.125969

Citation:

B. Ding, P. Du, X. Peng, Y. Lei, and H. Li, “Nonlinear multiagent systems-oriented privacy protection and convergence predefinition,” IEEE/CAA J. Autom. Sinica, vol. 13, no. 8, pp. 1854–1864, Aug. 2026. doi: 10.1109/JAS.2025.125969

Citation:

PDF( 1424 KB)

Nonlinear Multiagent Systems-Oriented Privacy Protection and Convergence Predefinition

doi: 10.1109/JAS.2025.125969

Funds: This work was supported in part by the National Natural Science Foundation of China (62433018, 62503401, 62503400), the Postdoctoral Fellowship Program and China Postdoctoral Science Foundation (BX20250405), the Chongqing Postdoctoral Innovation Talent Support Program (CQBX202408), and the Graduate Scientiffc Research and Innovation Foundation of Southwest University (SWUB25082)

More Information

Author Bio:
Bingjie Ding received the B.S. degree in automation from Qingdao University in 2020, and the M.S. degree in control theory and control engineering from Bohai University in 2024. He is currently pursuing the Ph.D. degree in computer science and technology with Southwest University. His current research interests include multiagent systems, adaptive control, and privacy protection

Peihao Du received the B.S. degree in mathematics and applied mathematics from Bohai University in 2016, the M.S. degree in applied mathematics from Bohai University in 2020, respectively, and the Ph.D. degree in control science and engineering from the Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology in 2024. He is currently a Postdoctoral Researcher with the College of Electronic and Information Engineering, Southwest University. His current research interests include fault diagnosis, self-healing control, and control system protection

Xiaojie Peng received the B.S. degree in automation from Hunan University of Science and Technology in 2017, and the Ph.D. degree in control science and engineering from China University of Geosciences in 2024. She is currently a Research Associate with the College of Electronic and Information Engineering, Southwest University. Her current research interests include time-delay systems and multiagent systems

Yan Lei received the B.S. degree in automatic control from Hohai University in 2016 and the Ph.D. degree in control theory and control engineering with Huazhong University of Science and Technology in 2021. He is currently an Associate Professor with the School of Electronic and Information Engineering, Southwest University. His research interests include hybrid systems, singularly perturbed systems, multi-agent systems, and event-triggered control

Hongyi Li (Senior Member, IEEE) received the Ph.D. degree in intelligent control from the University of Portsmouth, Portsmouth, U.K., in 2012. He was a Research Associate with the Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China, and also with Hong Kong Polytechnic University, Hong Kong, China. He was a Visiting Principal Fellow with the Faculty of Engineering and Information Sciences, University of Wollongong, Wollongong, NSW, Australia. He is currently a Professor with the Southwest University. His research interests include intelligent control, and cooperative control and their applications. Prof. Li was a recipient of the 2016 and 2019 Andrew P. Sage Best Transactions Paper Awards from the IEEE System, Man, and Cybernetics Society, the Best Paper Award in Theory from ICCSS 2017, and the Zadeh Best Student Paper from IEEE ICCSS 2019. He has been in the Editorial Board of several international journals, including IEEE Transactions on Neural Networks and Learning Systems, IEEE Transactions on Fuzzy Systems, IEEE Transactions on Automation Science and Engineering, IEEE Transactions on Systems, Man, and Cybernetics: Systems, IEEE Transactions on Cognitive and Developmental Systems, Science China Information Sciences, IEEE/CAA Journal of Automatica Sinica, Journal of Systems Science and Complexity, Neural Networks, Asian Journal of Control, Circuits, Systems and Signal Processing, and International Journal of Control, Automation and Systems. He has served as the Guest Editor for IEEE Transactions on Cybernetics and IET Control Theory and Applications. He is a Member of the IFAC Technical Committee on Computational Intelligence in Control
Corresponding author: Peihao Du, e-mail: peihaodu@swu.edu.cn
Received Date: 2025-06-20
Accepted Date: 2025-10-03

Abstract

Abstract

This paper focuses on the convergence-predefined problem for nonlinear multiagent systems with a privacy-preserving mechanism. Herein, a privacy-preserving mechanism based on the binary vector with the encryption-decryption algorithm is proposed and imposed on the system outputs to guarantee the security of the signal transmission, while realizing the predefined-time convergence of the original output. Moreover, by utilizing the locally known topological information of agents, a tanh-type command filter is designed to avoid the issues of the singularity and the discontinuity in the control signals and adaptive laws, and such command filter can also solve the complexity explosion problem of the backstepping technique. Based on the predefined-time stability theorem, the closed-loop system can be proved to be practical predefined-time stable and the tracking error can converge to a tunable neighborhood of zero. Finally, simulation results demonstrate the effectiveness of the proposed control scheme.
- Command filter,
- nonlinear multiagent systems (MASs),
- predefined-time convergence,
- privacy protection

FullText(HTML)

References(40)

References

[1]	S. Fan, T. Wang, C. Qin, J. Qiu, and M. Li, “Optimized backstepping attitude containment control for multiple spacecrafts,” IEEE Trans. Fuzzy Syst., vol. 32, no. 9, pp. 5248–5258, Sep. 2024. doi: 10.1109/TFUZZ.2024.3418577
[2]	G. Kaur, P. Chanak, and M. Bhattacharya, “Obstacle-aware intelligent fault detection scheme for industrial wireless sensor networks,” IEEE Trans. Ind. Inf., vol. 18, no. 10, pp. 6876–6886, Oct. 2022. doi: 10.1109/TII.2021.3133347
[3]	X. Jin, S.-L. Dai, and J. Liang, “Adaptive constrained formation-tracking control for a tractor-trailer mobile robot team with multiple constraints,” IEEE Trans. Autom. Control, vol. 68, no. 3, pp. 1700–1707, Mar. 2023. doi: 10.1109/TAC.2022.3151846
[4]	S. Guo, Y. Pan, H. Li, and L. Cao, “Dynamic event-driven ADP for N-player nonzero-sum games of constrained nonlinear systems,” IEEE Trans. Autom. Sci. Eng., vol. 22, pp. 7657–7669, 2025. doi: 10.1109/TASE.2024.3467382
[5]	X. Guo, C. Wang, and L. Liu, “Adaptive fault-tolerant control for a class of nonlinear multi-agent systems with multiple unknown time-varying control directions,” Automatica, vol. 167, Art. no. 111802, Sep. 2024. doi: 10.1016/j.automatica.2024.111802
[6]	P.-M. Liu, X.-G. Guo, J.-L. Wang, D. Coutinho, and L. Xie, “Chattering-free fault-tolerant cluster control and fault direction identification for HIL UAV swarm with pre-specified performance,” IEEE/CAA J. Autom. Sinica, vol. 12, no. 1, pp. 183–197, Jan. 2025. doi: 10.1109/JAS.2024.124827
[7]	A. Bounemeur and M. Chemachema, “Adaptive fuzzy fault-tolerant control using Nussbaum-type function with state-dependent actuator failures,” Neural Comput. Appl., vol. 33, pp. 191–208, Jan. 2021. doi: 10.1007/s00521-020-04977-6
[8]	A. Bounemeur, M. Chemachema, A. Zahaf, and S. Bououden, “Adaptive fuzzy fault-tolerant control using Nussbaum gain for a class of SISO nonlinear systems with unknown directions,” in Proc. of the 4th Int. Conf. Electrical Engineering and Control Applications, Constantine, Algeria, 2021, pp. 493−510.
[9]	J. Sun and Z. Ming, “Cooperative differential game-based distributed optimal synchronization control of heterogeneous nonlinear multiagent systems,” IEEE Trans. Cybern., vol. 53, no. 12, pp. 7933–7942, Dec. 2023. doi: 10.1109/TCYB.2023.3240983
[10]	Q. Wei, S. Jiao, Q. Dong, and F.-Y. Wang, “Event-triggered robust parallel optimal consensus control for multiagent systems,” IEEE/CAA J. Autom. Sinica, vol. 12, no. 1, pp. 40–53, Jan. 2025. doi: 10.1109/JAS.2024.124773
[11]	A. Bounemeur and M. Chemachema, “Finite-time output-feedback fault tolerant adaptive fuzzy control framework for a class of MIMO saturated nonlinear systems,” Int. J. Syst. Sci., vol. 56, no. 4, pp. 733–752, 2025. doi: 10.1080/00207721.2024.2409853
[12]	O. Bey and M. Chemachema, “Finite-time event-triggered output-feedback adaptive decentralized echo-state network fault-tolerant control for interconnected pure-feedback nonlinear systems with input saturation and external disturbances: A fuzzy control-error approach,” Inf. Sci., vol. 669, Art. no. 120557, May 2024. doi: 10.1016/j.ins.2024.120557
[13]	A. Luo, Q. Zhou, H. Ma, and H. Li, “Observer-based consensus control for MASs with prescribed constraints via reinforcement learning algorithm,” IEEE Trans. Neural Netw. Learn. Syst., vol. 35, no. 12, pp. 17281–17291, Dec. 2024. doi: 10.1109/TNNLS.2023.3301538
[14]	Q. Zhou, C. Yin, H. Ma, H. Ren, and H. Li, “Prescribed performance bipartite consensus control for MASs under data-driven strategy,” IEEE/CAA J. Autom. Sinica, vol. 12, no. 5, pp. 937–946, May 2025. doi: 10.1109/JAS.2024.124956
[15]	H. Ren, C. Zhang, H. Ma, and H. Li, “Cloud-based distributed group asynchronous consensus for switched nonlinear cyber-physical systems,” IEEE Trans. Ind. Inf., vol. 21, no. 1, pp. 693–702, Jan. 2025. doi: 10.1109/TII.2024.3457811
[16]	Y.-K. Zhang, H.-Y. Li, R.-X. Huang, and J.-H. Liu, “Shared control on lunar spacecraft teleoperation rendezvous operations with large time delay,” Acta Astronaut., vol. 137, pp. 312–319, Aug. 2017. doi: 10.1016/j.actaastro.2017.04.014
[17]	A. J. Muñoz-Vázquez, J. D. Sánchez-Torres, E. Jiménez-Rodríguez, and A. G. Loukianov, “Predefined-time robust stabilization of robotic manipulators,” IEEE/ASME Trans. Mechatron., vol. 24, no. 3, pp. 1033–1040, Jun. 2019. doi: 10.1109/TMECH.2019.2906289
[18]	X.-J. Peng, Y. He, H. Li, and S. Tian, “Consensus control and optimization of time-delayed multiagent systems: Analysis on different order-reduction methods,” IEEE Trans. Syst. Man Cybern. Syst., vol. 55, no. 1, pp. 780–791, Jan. 2025. doi: 10.1109/TSMC.2024.3492335
[19]	X.-J. Peng, Y. He, Z. Liu, L. You, and H. Li, “Time-varying formation H_∞ tracking control and optimization for delayed multi-agent systems with exogenous disturbances,” IEEE Trans. Autom. Sci. Eng., vol. 22, pp. 5637–5647, 2025. doi: 10.1109/TASE.2024.3427422
[20]	V. T. Haimo, “Finite time controllers,” SIAM J. Control Optim., vol. 24, no. 4, pp. 760–770, Jul. 1986. doi: 10.1137/0324047
[21]	F. Sedghi, M. M. Arefi, A. Abooee, and S. Yin, “Distributed adaptive-neural finite-time consensus control for stochastic nonlinear multiagent systems subject to saturated inputs,” IEEE Trans. Neural Netw. Learn. Syst., vol. 34, no. 10, pp. 7704–7718, Oct. 2023. doi: 10.1109/TNNLS.2022.3145975
[22]	J. Wang, C. Wang, C. L. P. Chen, Z. Liu, and C. Zhang, “Fast finite-time event-triggered consensus control for uncertain nonlinear multiagent systems with full-state constraints,” IEEE Trans. Circuits Syst. I Regul. Pap., vol. 70, no. 3, pp. 1361–1370, Mar. 2023. doi: 10.1109/TCSI.2022.3225287
[23]	A. Polyakov, “Nonlinear feedback design for fixed-time stabilization of linear control systems,” IEEE Trans. Autom. Control, vol. 57, no. 8, pp. 2106–2110, Aug. 2012. doi: 10.1109/TAC.2011.2179869
[24]	S. P. Zheng, H. Ma, H. R. Ren, and H. Y. Li, “Practically fixed-time adaptive consensus control for multiagent systems with prescribed performance,” Sci. China Technol. Sci., vol. 67, no. 12, pp. 3867–3876, Nov. 2024. doi: 10.1007/s11431-024-2780-3
[25]	W. Bai, P. X. Liu, and H. Wang, “Neural-network-based adaptive fixed-time control for nonlinear multiagent non-affine systems,” IEEE Trans. Neural Netw. Learn. Syst., vol. 35, no. 1, pp. 570–583, Jan. 2024. doi: 10.1109/TNNLS.2022.3175929
[26]	J. D. Sánchez-Torres, D. Gómez-Gutiérrez, E. López, and A. G. Loukianov, “A class of predefined-time stable dynamical systems,” IMA J. Math. Control Inf., vol. 35, no. S1, pp. i1–i29, Apr. 2018. doi: 10.1093/imamci/dnx004
[27]	S. Sui, C. L. P. Chen, and S. Tong, “Command filter-based predefined time adaptive control for nonlinear systems,” IEEE Trans. Autom. Control, vol. 69, no. 11, pp. 7863–7870, Nov. 2024. doi: 10.1109/TAC.2024.3399998
[28]	X. Zheng, H. Ma, Q. Zhou, and H. Li, “Neural-based prescribed-time consensus control for multiagent systems via dynamic memory event-triggered mechanism,” Sci. China Technol. Sci., vol. 68, no. 3, Art. no. 1320402, Feb. 2025. doi: 10.1007/s11431−024-2694-x
[29]	J. Ni, S. Qian, J. Cao, W. Li, and F. Yang, “Predefined-time consensus tracking control for multiagent system with channel fading,” IEEE Trans. Cybern., vol. 54, no. 8, pp. 4652–4665, Aug. 2024. doi: 10.1109/TCYB.2023.3311619
[30]	K. Li, C. Hua, X. You, and C. K. Ahn, “Output feedback predefined-time bipartite consensus control for high-order nonlinear multiagent systems,” IEEE Trans. Circuits Syst. I Regul. Pap., vol. 68, no. 7, pp. 3069–3078, Jul. 2021. doi: 10.1109/TCSI.2021.3071974
[31]	C. Xu, B. Wu, and D. Wang, “Distributed prescribed-time attitude coordination for multiple spacecraft with actuator saturation under directed graph,” IEEE Trans. Aerosp. Electron. Syst., vol. 58, no. 4, pp. 2660–2672, Aug. 2022. doi: 10.1109/TAES.2021.3135484
[32]	X. She, H. Ma, H. Ren, and H. Li, “Vision-based adaptive prescribed-time control of UAV for uncooperative target tracking with performance constraint,” J. Syst. Sci. Complex., vol. 37, no. 5, pp. 1956–1977, Aug. 2024. doi: 10.1007/s11424-024-3443-2
[33]	L. Liang, R. Ding, S. Liu, and R. Su, “Event-triggered privacy-preserving consensus control with edge-based additive noise,” IEEE Trans. Autom. Control, vol. 69, no. 10, pp. 7059–7066, Oct. 2024. doi: 10.1109/TAC.2024.3390574
[34]	W. Zhang, B.-C. Wang, and Y. Liang, “Differentially private consensus for second-order multiagent systems with quantized communication,” IEEE Trans. Neural Netw. Learn. Syst., vol. 35, no. 4, pp. 5523–5535, Apr. 2024. doi: 10.1109/TNNLS.2022.3207470
[35]	J. Wang, J. Ke, and J.-F. Zhang, “Differentially private bipartite consensus over signed networks with time-varying noises,” IEEE Trans. Autom. Control, vol. 69, no. 9, pp. 5788–5803, Sep. 2024. doi: 10.1109/TAC.2024.3351869
[36]	Y. Liu, X. Xie, J. Sun, and D. Yang, “Event-triggered privacy preservation consensus control and containment control for nonlinear MASs: An output mask approach,” IEEE Trans. Syst. Man Cybern. Syst., vol. 54, no. 7, pp. 4437–4447, Jul. 2024. doi: 10.1109/TSMC.2024.3379375
[37]	A. Wang, H. He, and X. Liao, “Event-triggered privacy-preserving average consensus for multiagent networks with time delay: An output mask approach,” IEEE Trans. Syst. Man Cybern. Syst., vol. 51, no. 7, pp. 4520–4531, Jul. 2021. doi: 10.1109/TSMC.2019.2939680
[38]	M. Wang, H. Liang, Y. Pan, and X. Xie, “A new privacy preservation mechanism and a gain iterative disturbance observer for multiagent systems,” IEEE Trans. Netw. Sci. Eng., vol. 11, no. 1, pp. 392–403, Jan.-Feb. 2024. doi: 10.1109/TNSE.2023.3299614
[39]	S. Yang, H. Liang, Y. Pan, and T. Li, “Security control for air-sea heterogeneous multiagent systems with cooperative-antagonistic interactions: An intermittent privacy preservation mechanism,” Sci. China Technol. Sci., vol. 68, no. 4, Art. no. 1420402, Mar. 2025. doi: 10.1007/s11431-024-2758-6
[40]	W. Dong, J. A. Farrell, M. M. Polycarpou, V. Djapic, and M. Sharma, “Command filtered adaptive backstepping,” IEEE Trans. Control Syst. Technol., vol. 20, no. 3, pp. 566–580, May 2012. doi: 10.1109/TCST.2011.2121907

Supplements(0)

Cited By

Proportional views

Proportional views

通讯作者: 陈斌, bchen63@163.com

1.
沈阳化工大学材料科学与工程学院沈阳 110142

Figures(6) / Tables(1)

Get Citation

PDF

XML

Article Metrics

Article views (16) PDF downloads(0)

Nonlinear Multiagent Systems-Oriented Privacy Protection and Convergence Predefinition

doi: 10.1109/JAS.2025.125969

Abstract

References

Proportional views

Catalog

通讯作者: 陈斌, bchen63@163.com

Article Metrics

Export File

Citation

Format

Content