Related papers: ARX-Implementation of encrypted nonlinear dynamic …
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…
Encrypted control enables confidential controller evaluations in cloud-based or networked control systems. From a technical point of view, an encrypted controller is a modified control algorithm that is capable of computing encrypted…
This paper presents a new model-based algorithm that computes predictive optimal controls on-line and in closed loop for traditionally challenging nonlinear systems. Examples demonstrate the same algorithm controlling hybrid impulsive,…
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…
This paper is concerned with the stability analysis of encrypted observer-based control for linear continuous-time systems. Since conventional encryption has limited ability to deploy in continuous-time integral computation, our work…
We revisit the problem of computing (robust) controlled invariant sets for discrete-time linear systems. Departing from previous approaches, we consider implicit, rather than explicit, representations for controlled invariant sets.…
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…
Robust global stabilization of nonlinear systems by observer-based feedback controllers is a challenging task. This article investigates the problem of designing observer-based stabilizing controllers for incrementally quadratic nonlinear…
A dynamic backstepping method is proposed to design controllers for nonlinear systems in the pure-feedback form, for which the traditional backstepping method suffers from solving the implicit nonlinear algebraic equation. The idea of this…
A novel model reduction framework for large-scale complex systems is proposed by introducing function-type dynamic control systems via the dimension-keeping semi-tensor product (DK-STP) of matrices. Utilizing bridge matrices, the DK-STP…
This paper proposes an encrypted state observer that is capable of detecting sensor attacks without decryption. We first design a state observer that operates over a finite field of integers with the modular arithmetic. The observer…
This paper considers a tracking control problem, in which the dynamic controller is encrypted with an additively homomorphic encryption scheme and the output of a process tracks a dynamic reference asymptotically. Our paper is motivated by…
In various applications in the field of control engineering the estimation of the state variables of dynamic systems in the presence of unknown inputs plays an important role. Existing methods require the so-called observer matching…
This paper proposes a new extended-state observer-based framework for adaptive nonlinear regulator design of a class of nonlinear systems, in the general nonequilibrium theory. By augmenting an extended-state observer with an internal…
In this paper, we present a novel decentralized controller to drive multiple unmanned aerial vehicles (UAVs) into a symmetric formation of regular polygon shape surrounding a mobile target. The proposed controller works for time-varying…
This paper develops an optimal relative output-feedback based solution to the containment control problem of linear heterogeneous multi-agent systems. A distributed optimal control protocol is presented for the followers to not only assure…
We address the problem of state estimation, attack isolation, and control of discrete-time linear time-invariant systems under (potentially unbounded) actuator and sensor false data injection attacks. Using a bank of unknown input…
This paper proposes a novel unit-quaternion observer-based controller for attitude tracking (attitude and angular velocity) with guaranteed transient and steady-state performance. The proposed approach is computationally cheap and can…
The event-triggered control with intermittent output can reduce the communication burden between the controller and plant side over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in…
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…