Can Inherent Communication Noise Guarantee Privacy in Distributed Cooperative Control ?

摘要

This paper investigates privacy-preserving distributed cooperative control for multi-agent systems within the framework of differential privacy. In cooperative control, communication noise is inevitable and is usually regarded as a disturbance that impairs coordination. This work revisits such noise as a potential privacy-enhancing factor. A linear quadratic regulator (LQR)-based framework is proposed for agents communicating over noisy channels, \textcolor{black}{where the noise variance depends on the relative state differences between neighbouring agents.} The resulting controller achieves formation while protecting the reference signals from inference attacks. It is analytically proven that the inherent communication noise can guarantee bounded $(ε,δ)$-differential privacy without adding dedicated privacy noise, while the \textcolor{black}{system cooperative tracking error} remains bounded and convergent in both the mean-square and almost-sure sense.