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) willaffect control performance and even lead to system instability.To address this problem, a novel co-design secure control methodbased on image attack detection and data compensation fornetworked visual control systems (NVCSs) is proposed. Firstly,the existing problems of NVCSs under image attacks are an-alyzed, and a co-design secure control method including imageencryption, watermarking-based attack detection and online datacompensation is presented. Then, a detector based on double-layer detection mechanism of timeout and digital watermarkingis designed for real-time, integrity and authenticity discriminationof the image. Furthermore, according to the detection results, anonline compensation scheme based on cubic spline interpolationand post-prediction update is proposed to reduce the effect ofcumulative errors and improve control performance. Finally,the online compensation scheme is optimized by consideringthe characters of networked inverted pendulum visual controlsystems, and experimental results demonstrate the feasibility andeffectiveness of the proposed detection and control method.