results: 通过实验结果，证明提出的方法可以实现网络倾斜镜视测系统的可靠稳定性和安全性。Abstract
When visual image information is transmitted via communication networks, it easily suffers from image attacks, leading to system performance degradation or even crash. This paper investigates secure control of networked inverted pendulum visual servo system (NIPVSS) with adverse effects of image computation. Firstly, the image security limitation of the traditional NIPVSS is revealed, where its stability will be destroyed by eavesdropping-based image attacks. Then, a new NIPVSS with the fast scaled-selective image encryption (F2SIE) algorithm is proposed, which not only meets the real-time requirement by reducing the computational complexity, but also improve the security by reducing the probability of valuable information being compromised by eavesdropping-based image attacks. Secondly, adverse effects of the F2SIE algorithm and image attacks are analysed, which will produce extra computational delay and errors. Then, a closed-loop uncertain time-delay model of the new NIPVSS is established, and a robust controller is designed to guarantee system asymptotic stability. Finally, experimental results of the new NIPVSS demonstrate the feasibility and effectiveness of the proposed method.
摘要
当视觉图像信息通过通信网络传输时，容易受到图像攻击，导致系统性能下降或甚至崩溃。这篇论文研究了安全控制的网络倒挺镜视服系统（NIPVSS），并对图像计算的副作用进行分析。首先，传统NIPVSS的图像安全限制被揭示，其稳定性会由侦测图像攻击而被破坏。然后，一种新的NIPVSS，即快速缩放选择图像加密算法（F2SIE），被提出，该算法不仅可以满足实时要求，还能够提高安全性。其次，F2SIE算法和图像攻击的副作用被分析，它们会产生额外的计算延迟和错误。然后，一个关闭环路不确定时延模型的新NIPVSS被建立，并设计了一个robust控制器，以确保系统 asymptotic stability。最后，新NIPVSS的实验结果证明了提posed方法的可行性和效果。