图  1  非联合窃听下的网络示意图

Fig.  1  Schematic of the network under non-collaborative eavesdropping

图  4  完全联合窃听下的网络示意图

Fig.  4  Schematic of the network under full collaborative eavesdropping

图  2  弱联合窃听下的网络示意图

Fig.  2  Schematic of the network under weak collaborative eavesdropping

图  3  强联合窃听下的网络示意图

Fig.  3  Schematic of the network under strong collaborative eavesdropping

图  5  算法示例图

Fig.  5  Schematic diagram of the algorithm example

图  6  强联合窃听下的简化示意图

Fig.  6  Simplified schematic under strong collaborative eavesdropping

图  7  5个节点组成的多智能体系统网络拓扑

Fig.  7  Network topology of multi-agent system with 5 nodes

图  8  在式(20)下系统各节点输出值的变化轨迹

Fig.  8  Trajectories of changes in the output values of each node of the system under (20)

图  9  在实现方式(20)和(21)下, 智能体的输出轨迹$y_i^{\alpha}(t)$和$\bar{y}_i^{\alpha}(t)$

Fig.  9  The output trajectories of agents under realizations (20) and (21): $y_i^{\alpha}(t)$ and $\bar{y}_i^{\alpha}(t)$

图  10  在实现方式(20)和(21)下, 虚拟节点的输出轨迹$y_i^{\beta}(t)$和$\bar{y}_i^{\beta}(t)$

Fig.  10  The output trajectories of virtual nodes under realizations (20) and (21): $y_i^{\beta}(t)$ and $\bar{y}_i^{\beta}(t)$

图  11  在实现方式(20)和(21)下, 智能体的实时状态轨迹$x_i^{\alpha}(t)$和$\bar{x}_i^{\alpha}(t)$

Fig.  11  The real-time state trajectories of agents under realizations (20) and (21): $x_i^{\alpha}(t)$ and $\bar{x}_i^{\alpha}(t)$

图  12  在实现方式(20)和(21)下, 虚拟节点的状态轨迹$x_i^{\beta}(t)$和$\bar{x}_i^{\beta}(t)$

Fig.  12  The state trajectories of virtual nodes under realizations (20) and (21): $x_i^{\beta}(t)$ and $\bar{x}_i^{\beta}(t)$

图  13  在实现方式(20)和(22)下, 节点1的实时状态轨迹$x_i^{\alpha}(t)$和$\bar{\bar{x}}_i^{\alpha}(t)$

Fig.  13  The real-time state trajectories of node 1 under realizations (20) and (22): $x_i^{\alpha}(t)$ and $\bar{\bar{x}}_i^{\alpha}(t)$

图  14  在文献[31]的方法下, 每个节点的输出轨迹$y_{i}(t)$

Fig.  14  The output trajectory $y_{i}(t) $ of each node under the method of [31]

图  15  $Z_2(t)$在本文和文献[31]下的轨迹

Fig.  15  $Z_2(t)$ trajectories under the method of ours and [31]