Privacy-preserving Leader-following Consensus with Continuous-time Dynamics
Haoran Li, Hongyuan Xu, Yuan‐Hua Ni, Feng Duan, Zengqiang Chen · 2021
Leader-following consensus is an essential problem for tracking control. However, the state trajectories of agents may be exposed because of frequent exchange of information. Hence, this paper considers the secure leader-following consensus with continuous-time dynamics over directed fixed topologies. For each follower, introduce a virtual node that forms a directed node pair combining with the real node, i.e., the information can only transmit from virtual node to real node in a node pair. In this case, we design a control law utilizing neighboring information, and analyze convergence and privacy preservation of the leader-following multi-agent systems. Finally, a numerical simulation is provided to illustrate our results.