Performance-Dependent Privacy Preserving for Switched Multiple Systems Under Active Disturbance Rejection Control

Disturbances and uncertainties affect the performance of control systems and must be addressed. In addition, due to the potential privacy leakage caused by the informatization and networking of control systems, ensuring system privacy has become an important technical challenge. The topic of this paper is active disturbance rejection control (ADRC) with differential privacy preserving for switched multiple systems. By adding privacy noise with Laplace and uniform distribution to the system state, the novel privacy-preserving ADRC (PP-ADRC) framework ensures the required ADRC performance and privacy of system information in a non-ideal network environment. The innovation of this paper is embodied in three aspects: (i) The designed performance-dependent differential privacy preserving mechanism (PD-DPPM) under Laplace noise can adaptively balance system privacy and control performance. (ii) The presented privacy budget lower bound of uniform noise can determine the size of the uniform noise, making the PD-DPPM method more general in the field of privacy preservation. (iii) The newly constructed dual design of switching law and controller for PP-ADRC can ensure boundedness and <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">H</i><sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> performance. Lastly, illustrative examples are provided to explain effectiveness.