Privacy Preserving Second-order Consensus for WASNs

Considering the privacy requirements on initial states for second-order consensus in wireless sensor and actuator networks (WSAN s), we focus on the design of one privacy-preserving second-order consensus (PPSC) protocol in a distributed way, and investigate this issue from both the viewpoints of limiting the kind of information to be broadcasted and adding random noises to the broadcasted information. We also investigate the convergence rate and the privacy level of the proposed PPSC protocol, and drive that if only limited information of one node is kept by its neighboring nodes, both its initial velocity and position states will be privacy-preserved. Finally, simulation results are presented to verify the effectiveness of the proposed algorithm.