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This paper aims at secure and privacy preserving consensus algorithms ofnetworked systems. Due to the technical challenges behind decentralized designof such algorithms, the existing results are mainly restricted to a network ofsystems with simplest first-order dynamics. Like many other control problems,breakthrough of the gap between first-order dynamics and higher-order onesdemands for more advanced technical developments. In this paper, we explore aPaillier encryption based average consensus algorithm for a network of systemswith second-order dynamics, with randomness added to network weights. Theconditions for privacy preserving, especially depending on consensus rate, arethoroughly studied with theoretical analysis and numerical verification.

Secure and Privacy Preserving Consensus for Second-order Systems Based on Paillier Encryption