# Privacy-preserving ADP for secure tracking control of AVRs against unreliable communication

## TL;DR

This paper introduces a secure and private control method for autonomous vehicles or robots that works even with unreliable communication.

## Contribution

A new encrypted guaranteed-cost tracking control scheme using adaptive dynamic programming for secure AVR systems.

## Key findings

- The proposed algorithm uses encryption to prevent information leakage in vehicular networks.
- The method avoids dual-network complexity by solving the Hamilton-Jacobi-Bellman equation in a single-network framework.
- The control scheme successfully handles input constraints and stabilizes the tracking system.

## Abstract

In this study, we developed an encrypted guaranteed-cost tracking control scheme for autonomous vehicles or robots (AVRs), by using the adaptive dynamic programming technique. To construct the tracking dynamics under unreliable communication, the AVR's motion is analyzed. To mitigate information leakage and unauthorized access in vehicular network systems, an encrypted guaranteed-cost policy iteration algorithm is developed, incorporating encryption and decryption schemes between the vehicle and the cloud based on the tracking dynamics. Building on a simplified single-network framework, the Hamilton-Jacobi-Bellman equation is approximately solved, avoiding the complexity of dual-network structures and reducing the computational costs. The input-constrained issue is successfully handled using a non-quadratic value function. Furthermore, the approximate optimal control is verified to stabilize the tracking system. A case study involving an AVR system validates the effectiveness and practicality of the proposed algorithm.