Model-Free Adaptive Tracking Control Under Homomorphic Encryption Mechanism

This paper addresses the model-free adaptive control (MFAC) of MIMO nonlinear discrete-time systems with encryption and decryption. Given the unknown system model and the availability of only input and output data, the MFAC approach is employed to create an equivalent data model. To boost data transmission efficiency and security, an encryption scheme with quantization is introduced to map system information to ciphertext space. The primary goal of the addressed problem is to develop a new MFAC method for controlling unknown nonlinear systems under homomorphic encryption mechanism. The algorithm's convergence is rigorously analyzed using mathematical induction, and numerical simulations validate the proposed control algorithm's effectiveness.