Resilient Privacy-Preserving Average Consensus for Multi-agent Systems under Attacks

Security of consensus control is of key significance in multi-agent systems. In this paper we investigate the resilient consensus problem for multi-agent systems under the specific attack scenarios where the attacker can eavesdrop on initial information of agents among the system, and modifies the values in the communication links to interfere in the consensus process. To protect the privacy of node' value, we employ the cryptography of homomorphic encryption to encrypt initial integer state of each agent, without revealing to other agents the real value in the network. When the communication network meets the necessary connectivity, we develop a variation of so-called ratio consensus algorithm that deal with malicious attacks. The numerical example of directed network is conducted to illustrate the effectiveness of our proposed algorithm.