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The existing cryptosystem based approaches for privacy-preserving consensusof networked systems are usually limited to those with undirected topologies.This paper proposes a new privacy-preserving algorithm for networked systemswith directed topologies to reach confidential consensus. As a prerequisite forapplying the algorithm, a structural consensus problem is formulated and thesolvability conditions are discussed for an explicitly constructed controller.The controller is then implemented with encryption to achieve consensus whileavoiding individual's information leakage to external eavesdroppers and/ormalicious internal neighbors.

Structural Consensus in Networks with Directed Topologies and Its Cryptographic Implementation