Secure Control of Networked Inverted Pendulum Visual Servo System with Adverse Effects of Image Computation

When visual image information is transmitted viacommunication networks, it easily suffers from image attacks,leading to system performance degradation or even crash. Thispaper investigates secure control of networked inverted pendulumvisual servo system (NIPVSS) with adverse effects of image com-putation. Firstly, the image security limitation of the traditionalNIPVSS is revealed, where its stability will be destroyed byeavesdropping-based image attacks. Then, a new NIPVSS withthe fast scaled-selective image encryption (F2SIE) algorithm isproposed, which not only meets the real-time requirement byreducing the computational complexity, but also improve thesecurity by reducing the probability of valuable information beingcompromised by eavesdropping-based image attacks. Secondly,adverse effects of the F2SIE algorithm and image attacks areanalysed, which will produce extra computational delay anderrors. Then, a closed-loop uncertain time-delay model of thenew NIPVSS is established, and a robust controller is designedto guarantee system asymptotic stability. Finally, experimentalresults of the new NIPVSS demonstrate the feasibility andeffectiveness of the proposed method.