Defense Mechanisms Against Undetectable Cyberattacks on Encrypted Telerobotic Control Systems

Networkedcontrol systems are vulnerable to manipulation via data injection to observed states and control commands, resulting in undesired state trajectories and system instabilities. Adversarial attacks against such systems can be implemented in the form of undetectable attacks such that an observer never notices deviations from expected behavior. Even when protected by homomorphic encryption, these systems remain vulnerable to stealthy and perfectly undetectable attacks due to the malleability of encrypted data. This research develops a defense architecture against such undetectable attacks through the fusion of two complementary detection protocols working in conjunction with encryption. The mechanism’s strengths and weaknesses are analyzed for affine transformation-based perfectly undetectable attacks and covert attacks. The attacks are implemented against a mobile robot, and defense performance is analyzed, resulting in a robust defense mechanism that outperforms previous undetectable attack detection methods in terms of detection accuracy and reliability across the two representative attack types.