Cyber-Secure Teleoperation With Encrypted Four-Channel Bilateral Control

摘要

This study developed an encrypted four-channel bilateral control system that enables posture synchronization and force feedback for leader and follower robotic arms. The encrypted bilateral control system communicates encrypted signals and operates with encrypted control parameters using homomorphic encryption. We created two-axis robotic arms and identified them to obtain a nonlinear model consisting of a linear system and a nonlinear disturbance. Disturbance and reaction-force observers and a proportional-derivative controller were designed to construct a networked robot-manipulation system. The controllers in the constructed bilateral control system were securely implemented on dedicated computers using a controller encryption technique. The experimental results demonstrate that the developed bilateral control system can facilitate encrypted communication and controller, synchronize the posture, and feed the reaction force back. Through experimental validation, the encrypted four-channel bilateral control system enables the inheritance of control performance from the original (unencrypted) bilateral control system.