Related papers: Asymptotic tracking control of dynamic reference o…
Protecting the parameters, states, and input/output signals of a dynamic controller is essential for securely outsourcing its computation to an untrusted third party. Although a fully homomorphic encryption scheme allows the evaluation of…
In this paper, we propose methods to encrypted a pre-given dynamic controller with homomorphic encryption, without re-encrypting the control inputs. We first present a preliminary result showing that the coefficients in a pre-given dynamic…
In this paper, we present a dynamic feedback controller that computes the next state and the control signal over encrypted data using homomorphic properties of cryptosystems, whose performance is equivalent to the linear dynamic controllers…
When intelligent spacecraft or space robots perform tasks in a complex environment, the controllable variables are usually not directly available and have to be inferred from high-dimensional observable variables, such as outputs of neural…
Encrypted controllers using homomorphic encryption have proven to guarantee the privacy of measurement and control signals, as well as system and controller parameters, while regulating the system as intended. However, encrypting dynamic…
Funnel control achieves output tracking with guaranteed tracking performance for unknown systems and arbitrary reference signals. In particular, the tracking error is guaranteed to satisfy time-varying error bounds for all times (it evolves…
Recent studies on encrypted control using homomorphic encryption allow secure operation by directly performing computations on encrypted data without decryption. Implementing dynamic controllers on encrypted data presents unique challenges…
In this paper, we present a method to encrypt dynamic controllers that can be implemented through most homomorphic encryption schemes, including somewhat, leveled fully, and fully homomorphic encryption. To this end, we represent the output…
This paper presents a secure and private implementation of linear time-invariant dynamic controllers using Paillier's encryption, a semi-homomorphic encryption method. To avoid overflow or underflow within the encryption domain, the state…
Besides parametric uncertainties and disturbances, the unmodeled dynamics and time delay at the input are often present in practical systems, which cannot be ignored in some cases. This paper aims to solve output feedback tracking control…
In this paper we present a method for the addition of integral action to non-passive outputs of a class of port-Hamiltonian systems. The proposed integral controller is a dynamic extension, constructed from the open loop system, such that…
In this paper we address the problem of tracking control of nonlinear systems via contraction analysis. The necessary conditions of the systems which can achieve universal asymptotic tracking are studied under several different cases. We…
We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by $r$-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input…
For uncertain multiple inputs multi-outputs (MIMO) nonlinear systems, it is nontrivial to achieve asymptotic tracking, and most existing methods normally demand certain controllability conditions that are rather restrictive or even…
Encrypted control has been introduced to protect controller data by encryption at the stage of computation and communication, by performing the computation directly on encrypted data. In this article, we first review and categorize recent…
This paper is concerned with finite-level quantum memory systems for retaining initial dynamic variables in the presence of external quantum noise. The system variables have an algebraic structure, similar to that of the Pauli matrices, and…
The main benefit of model predictive control (MPC) is its ability to steer the system to a given reference without violating the constraints while minimizing some objective. Furthermore, a suitably designed MPC controller guarantees…
We develop an asymptotical control theory for one of the simplest distributed oscillating systems, namely, for a closed string under a bounded load applied to a single distinguished point. We find exact classes of string states that admit…
Encrypted dynamic controllers that operate for an unlimited time have been a challenging subject of research. The fundamental difficulty is the accumulation of errors and scaling factors in the internal state during operation.…
The aim of this article is to study the asymptotic behaviour of some low-cost control problems. These problems motivate the study of H-convergence with weakly convergingdata. An improved lower bound for the limit of energy functionals…