Secure perception-driven control of mobile robots using chaotic encryption

Xu Zhang, Zhenyuan Yuan, Siyuan Xu, Yang Lu, Minghui Zhu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations


This paper considers perception-driven control of a mobile robot for reference tracking where perception is performed by a machine learning system. The robot is subject to passive attacks and evasion attacks on image transmission. A robust output feedback controller together with a chaotic encryption system ensures input-to-state stability of the closed-loop system, and the chaotic encryption approach keeps image transmission secure. Simulations are conducted in the CARLA simulator to demonstrate robust reference tracking and secure image transmission.

Original languageEnglish (US)
Title of host publication2021 American Control Conference, ACC 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781665441971
StatePublished - May 25 2021
Event2021 American Control Conference, ACC 2021 - Virtual, New Orleans, United States
Duration: May 25 2021May 28 2021

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2021 American Control Conference, ACC 2021
Country/TerritoryUnited States
CityVirtual, New Orleans

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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