Containment Control for Multi-agent Systems with Differentially Private Protocols

This paper studies the containment control problem for a class of discrete-time multi-agent systems with fixed topology by introducing differential privacy mechanism. Firstly, we present a private containment control algorithm such that private initial values of followers can be protected, and moreover, followers' states can be driven into the convex hull formed by leaders' states along with the evolution rules. Secondly, for the proposed algorithm, we carry on the mean square convergence analysis of measurement error between followers and convex combination of leaders, we also verify the differential privacy and study the upper bound of convergence accuracy. Finally, some numerical examples are simulated to verify our theoretical results.