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Differential privacy in sampling control of multi-agent systems with time delays
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DOI：10.1002/asjc.70182.png)
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Abstract
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This paper addresses the challenge of achieving differentially private consensus in first-order continuous-time multi-agent systems subject to sampling delays. The main challenge lies in balancing privacy protection with control performance under delayed sampled-data transmission. To this end, we propose a privacy-preserving sampled-data protocol that introduces decaying Laplace noise into neighbors' sampled state information. By analyzing the closed-loop system using eigenvalue and stochastic matrix theories, we prove almost sure consensus and establish the ( p , r ) $$ \left(p,r\right) $$ -accuracy. Our results reveal that convergence accuracy depends on both the sampling period and noise intensity, while the privacy level is inversely proportional to the sampling period. These findings are further extended to nonuniform communication delays. Numerical simulations validate the theoretical analysis.
Keywords:
consensus problems
differential privacy
multi-agent systems
sampling protocol
time delays
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