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ORIGINAL RESEARCH article

Front. Neurorobot.
Volume 19 - 2025 | doi: 10.3389/fnbot.2025.1549414

Privacy Preserving ADP for Secure Tracking Control of AVRs Against Unreliable Communication

Provisionally accepted
Kun Zhang Kun Zhang 1*Kezhen Han Kezhen Han 2Zhijian Hu Zhijian Hu 3*Guoqiang Tan Guoqiang Tan 4
  • 1 School of Astronautics, Beihang University, Beijing, Beijing Municipality, China
  • 2 School of Electrical Engineering, University of Jinan, Jinan, Shandong Province, China
  • 3 LAAS-CNRS, Université de Toulouse, Toulouse, Midi-Pyrénées, France
  • 4 Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough, United Kingdom

The final, formatted version of the article will be published soon.

    This article presents encrypted guaranteed cost tracking control scheme for autonomous vehicles or robots (AVRs), developed using the adaptive dynamic programming technique. The motion of the AVR is analyzed to construct the tracking dynamics under unreliable communication.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 while reducing computational costs. The input-constrained issue is successfully handled using a nonquadratic 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.

    Keywords: Adaptive dynamic programming, Encryption and decryption, tracking control, optimal control, autonomous vehicle

    Received: 21 Dec 2024; Accepted: 10 Jan 2025.

    Copyright: © 2025 Zhang, Han, Hu and Tan. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

    * Correspondence:
    Kun Zhang, School of Astronautics, Beihang University, Beijing, 100083, Beijing Municipality, China
    Zhijian Hu, LAAS-CNRS, Université de Toulouse, Toulouse, 31000, Midi-Pyrénées, France

    Disclaimer: All claims expressed in this article are solely those of the authors and do not necessarily represent those of their affiliated organizations, or those of the publisher, the editors and the reviewers. Any product that may be evaluated in this article or claim that may be made by its manufacturer is not guaranteed or endorsed by the publisher.