Privacy-preserving ADP for secure tracking control of AVRs against unreliable communication
In this study, we developed an encrypted guaranteed-cost tracking control scheme for autonomous vehicles or robots (AVRs), by using the adaptive dynamic programming technique. To construct the tracking dynamics under unreliable communication, the AVR's motion is analyzed. To mitigate informatio...
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2025-01-01
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| Series: | Frontiers in Neurorobotics |
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| Online Access: | https://www.frontiersin.org/articles/10.3389/fnbot.2025.1549414/full |
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| author | Kun Zhang Kezhen Han Zhijian Hu Guoqiang Tan |
| author_facet | Kun Zhang Kezhen Han Zhijian Hu Guoqiang Tan |
| author_sort | Kun Zhang |
| collection | DOAJ |
| description | In this study, we developed an encrypted guaranteed-cost tracking control scheme for autonomous vehicles or robots (AVRs), by using the adaptive dynamic programming technique. To construct the tracking dynamics under unreliable communication, the AVR's motion is analyzed. To mitigate information leakage and unauthorized access in vehicular network systems, an encrypted guaranteed-cost policy iteration algorithm is developed, incorporating encryption and decryption schemes between the vehicle and the cloud based on the tracking dynamics. Building on a simplified single-network framework, the Hamilton-Jacobi-Bellman equation is approximately solved, avoiding the complexity of dual-network structures and reducing the computational costs. The input-constrained issue is successfully handled using a non-quadratic value function. Furthermore, the approximate optimal control is verified to stabilize the tracking system. A case study involving an AVR system validates the effectiveness and practicality of the proposed algorithm. |
| format | Article |
| id | doaj-art-ba25bfe8c16f48c3820c69e4cfb658ef |
| institution | Kabale University |
| issn | 1662-5218 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Neurorobotics |
| spelling | doaj-art-ba25bfe8c16f48c3820c69e4cfb658ef2025-01-29T06:45:42ZengFrontiers Media S.A.Frontiers in Neurorobotics1662-52182025-01-011910.3389/fnbot.2025.15494141549414Privacy-preserving ADP for secure tracking control of AVRs against unreliable communicationKun Zhang0Kezhen Han1Zhijian Hu2Guoqiang Tan3School of Astronautics, Beihang University, Beijing, ChinaSchool of Electrical Engineering, University of Jinan, Jinan, ChinaLAAS-CNRS, University of Toulouse, CNRS, Toulouse, FranceDepartment of Aeronautical and Automotive Engineering, Loughborough University, Loughborough, United KingdomIn this study, we developed an encrypted guaranteed-cost tracking control scheme for autonomous vehicles or robots (AVRs), by using the adaptive dynamic programming technique. To construct the tracking dynamics under unreliable communication, the AVR's motion is analyzed. To mitigate information leakage and unauthorized access in vehicular network systems, an encrypted guaranteed-cost policy iteration algorithm is developed, incorporating encryption and decryption schemes between the vehicle and the cloud based on the tracking dynamics. Building on a simplified single-network framework, the Hamilton-Jacobi-Bellman equation is approximately solved, avoiding the complexity of dual-network structures and reducing the computational costs. The input-constrained issue is successfully handled using a non-quadratic value function. Furthermore, the approximate optimal control is verified to stabilize the tracking system. A case study involving an AVR system validates the effectiveness and practicality of the proposed algorithm.https://www.frontiersin.org/articles/10.3389/fnbot.2025.1549414/fulladaptive dynamic programmingencryption and decryptiontracking controloptimal controlautonomous vehicle |
| spellingShingle | Kun Zhang Kezhen Han Zhijian Hu Guoqiang Tan Privacy-preserving ADP for secure tracking control of AVRs against unreliable communication Frontiers in Neurorobotics adaptive dynamic programming encryption and decryption tracking control optimal control autonomous vehicle |
| title | Privacy-preserving ADP for secure tracking control of AVRs against unreliable communication |
| title_full | Privacy-preserving ADP for secure tracking control of AVRs against unreliable communication |
| title_fullStr | Privacy-preserving ADP for secure tracking control of AVRs against unreliable communication |
| title_full_unstemmed | Privacy-preserving ADP for secure tracking control of AVRs against unreliable communication |
| title_short | Privacy-preserving ADP for secure tracking control of AVRs against unreliable communication |
| title_sort | privacy preserving adp for secure tracking control of avrs against unreliable communication |
| topic | adaptive dynamic programming encryption and decryption tracking control optimal control autonomous vehicle |
| url | https://www.frontiersin.org/articles/10.3389/fnbot.2025.1549414/full |
| work_keys_str_mv | AT kunzhang privacypreservingadpforsecuretrackingcontrolofavrsagainstunreliablecommunication AT kezhenhan privacypreservingadpforsecuretrackingcontrolofavrsagainstunreliablecommunication AT zhijianhu privacypreservingadpforsecuretrackingcontrolofavrsagainstunreliablecommunication AT guoqiangtan privacypreservingadpforsecuretrackingcontrolofavrsagainstunreliablecommunication |