Secure Teleoperation Control Using Somewhat Homomorphic Encryption

The goal of this research is to establish control theoretic methods enhance cyber security networked motion systems by utilizing somewhat homomorphic encryption. proposed approach will encrypt the entire schemes including: sensor signals, model parameters, feedback gains, and performs computation in ciphertext space generate commands servo without a hole. paper discuss implementation encrypted bilateral teleoperation with nonlinear friction compensation. present (1) realization encryption (2) simulation results.