近年來科技進步相當迅速，各項領域皆有所突破，因此無人車也逐漸成為大家所關注之重點，而為了能迅速及安全的到達目的地，車與車之間之通訊與控制就變得非常重要，本論文透過圖形理論建立拓撲圖與其對應之控制器，並進行控制器推導找出能達到共識的參數。而由於近年來資訊安全備受重視，然而在進行編隊控制時會需要其他節點之資訊如位置或速度，因此本論文將使用Paillier cryptosystem將資料進行加解密來確保資料安全性，本論文將結合共識理論與Paillier密碼系統，提出隨機變數保密編隊演算法，透過設計隨機變數來解決Paillier cryptosystem不能對負數域運算的缺點進而確保其完備性，使其所具有之加法同態性質能實際實現在編隊控制上，不僅可以確保各節點的資訊對外保密，也能確保各節點間再進行編隊共識時也能保有自身資訊不被其他節點獲取，進而實現對內保密。本論文除了提出上述之隨機變數保密編隊演算法，亦進行模擬與演算法分析，在維持控制性能及安全性的條件下，降低記憶體的使用率。最後透過實際設計四輪移動式機器人並進行物理建模，配合PD控制器與隨機變數保密編隊演算法，成功實現保密編隊控制，由本論文之模擬與實驗結果可驗證此演算法在實際應用上將有良好之性能與穩定性。

This thesis proposes a random variable secret formation algorithm, a topology through the graph theory, and distributed formation control for three four-wheel vehicles. We apply the homomorphic Paillier cryptosystem with random variables to realize the confidential formation control between each agent (nodes), which not only own information be secret and privacy-persevering to the outside but also to the other nodes. The proposed control scheme with privacy-persevering has a lower computational load than conventional centralized control. The numerical simulations and experimental results verify that the proposed algorithm will have good performance and feasibility in practical applications.

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