Consensus Control Based on Privacy-Preserving Two-Party Relationship Test Protocol

Preservation of privacy is a challenging and significant constraint in multi-agent systems. This paper aims to introduce a framework that enables the states of a multi-agent system to reach a consensus while preserving the confidentiality of each agent's initial states from others. First, a protocol for a privacy-preserving two-party relationship test is proposed. Subsequently, the protocol is employed to devise the average consensus controller for the first-order system, and the rendezvous controller for the second-order system. In contrast to prior research that relies on stochastic coupling weights, our approach circumvents the random chattering problem of the control input, resulting in improved convergence performance. Finally, numerical verification is conducted to demonstrate the effectiveness of the proposed controllers in both first-and second-order systems.