Co-Design Secure Control Based on Image Attack Detection and Data Compensation for Networked Visual Control Systems

The incomplete and untrue data caused by cyberattacks (e.g., image information leakage and tampering) will affect the control performance and even lead to system instability. To address this problem, a novel co-design secure control method based on image attack detection and data compensation for networked visual control systems (NVCSs) is proposed. First, the existing problems of NVCSs under image attacks are analyzed, and a co-design secure control method, including image encryption, watermarking-based attack detection, and online data compensation, is presented. Then, a detector based on double-layer detection mechanism of timeout and digital watermarking is designed for real time, integrity, and authenticity discrimination of the images. Furthermore, according to the detection results, an online compensation scheme based on cubic spline interpolation and postprediction update is proposed to reduce the effect of cumulative errors and improve the control performance. Finally, the online compensation scheme is optimized by considering the characters of networked inverted pendulum visual control systems, and experimental results demonstrate the feasibility and effectiveness of the proposed detection and control method.