Privacy-Preserving Consensus of Continuous Multi-agent Systems with Communication Delay

The privacy-preserving consensus problem for the continuous multi-agent systems with communication delay is investigated in this paper, and a novel privacy-preserving strategy is proposed to protect all initial state of agents from being acquired by other agents. Then, a consensus algorithm based on this privacy-preserving method is designed. Different from other protection of private information methods, the proposed privacy-preserving method can not only ensure that movement state of agents accurately converge to the stable position but cover their true motion path. According to the designed control algorithm, we conduct a rigorous mathematical analysis for the consensus problem of MAS. Finally, data simulations verifies the effectiveness of the proposed privacy-preserving consensus algorithm.