3 research outputs found
Fully Homomorphic Encryption-enabled Distance-based Distributed Formation Control with Distance Mismatch Estimators
This paper considers the use of fully homomorphic encryption for the realisation of distributed formation control of multi-agent systems via edge computer. In our proposed framework, the distributed control computation in the edge computer uses only the encrypted data without the need for a reset mechanism that is commonly required to avoid error accumulation. Simulation results show that, despite the use of encrypted data on the controller and errors introduced by the quantization process prior to the encryption, the formation is able to converge to the desired shape. The proposed architecture offers insight on the mechanism for realising distributed control computation in an edge/cloud computer while preserving the privacy of local information coming from each agent
Homomorphic Encryption-enabled Distance-based Distributed Formation Control with Distance Mismatch Estimators
This paper considers the use of fully homomorphic encryption for the realisation of distributed formation control of multi-agent systems via edge computer. In our proposed framework, the distributed control computation in the edge computer uses only the encrypted data without the need for a reset mechanism that is commonly required to avoid error accumulation. Simulation results show that, despite the use of encrypted data on the controller and errors introduced by the quantization process prior to the encryption, the formation is able to converge to the desired shape. The proposed architecture offers insight on the mechanism for realising distributed control computation in an edge/cloud computer while preserving the privacy of local information coming from each agent
Secure Formation Control via Edge Computing Enabled by Fully Homomorphic Encryption and Mixed Uniform-Logarithmic Quantization
Recent developments in communication technologies, such as 5G, together with
innovative computing paradigms, such as edge computing, provide further
possibilities for the implementation of real-time networked control systems.
However, privacy and cyber-security concerns arise when sharing private data
between sensors, agents and a third-party computing facility. In this paper, a
secure version of the distributed formation control is presented, analyzed and
simulated, where gradient-based formation control law is implemented in the
edge, with sensor and actuator information being secured by fully homomorphic
encryption method based on learning with error (FHE-LWE) combined with a
proposed mixed uniform-logarithmic quantizer (MULQ). The novel quantizer is
shown to be suitable for realizing secure control systems with FHE-LWE where
the critical real-time information can be quantized into a prescribed bounded
space of plaintext while satisfying a sector bound condition whose lower and
upper-bound can be made sufficiently close to an identity. An absolute
stability analysis is presented, that shows the asymptotic stability of the
closed-loop secure control system