Encrypted Average Consensus with Quantized Control Law
Masako Kishida · 2018
This paper proposes an encrypted control algorithm to the average consensus problem for agents whose communication topology is represented by a strongly connected digraph. Unlike many applications that use encryptions, encrypted control systems require encryptions and decryptions repeatedly at every sampling time. Thus, it is beneficial if the control algorithm allows us to balance the cipher strength and processing time. This property is acquired by constructing a finite-level uniform quantizer whose sensitivity changes with the evolution of the system, designing its associated control law, and then combining it with the Paillier cryptosystem. Numerical analysis of the quantized control law is also presented.