Abstract
This letter develops a fog computing-based encrypted control system in a practical industrial setting. The developed system conceals controller gains and signals over communication links using multiplicative homomorphic encryption to prevent eavesdropping attacks. Experimental validation confirms the feasibility of position servo control for the motor-driven stage with the developed system in terms of performance degradation, parameter variation, and processing time. The developed system inherits its stability regardless of whether plant parameters fluctuate or not even after the controller gains and signals are encrypted. Furthermore, although processing time becomes longer by increasing a key length of encryption, degradation of control performance is improved simultaneously.
Highlights
C LOUD-BASED control systems [1], in which controlled devices are connected to a communication network to be monitored and controlled in the cloud, are gaining popularity
Rapyuta [4] cooperating with RoboEarth [5] is Platform as a Service (PaaS) for cloud robotics applications
These results indicate that the increase in processing time required for Enc and Dec+ is large compared to Mult
Summary
C LOUD-BASED control systems [1], in which controlled devices are connected to a communication network to be monitored and controlled in the cloud, are gaining popularity. It is not straightforward to obfuscate the controller parameters with additive homomorphic encryption because multiplication between two data cannot be executed in ciphertext. Additive and fully homomorphic encryptions require a large number of computational resources for homomorphic operation These encryption schemes are not suitable for lower-layer control of mechanical systems. Another approach to security enhancement of fog computingbased control systems was proposed in [24]. In this method, an artificial noise is added to sensor data, and a controller in the fog determines the control input required to achieve. TERANISHI et al.: DEVELOPMENT AND EXAMINATION OF FOG COMPUTING-BASED ENCRYPTED CONTROL SYSTEM
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