Secret Sharing Implementation of Predictive Functional Control

In this paper, we focus on design and implementation of an encrypted model predictive controller. The proposed encrypted scheme can perform control calculations based on cryptography mathematics without intermediate decryption. In fact, a secret sharing scheme as a privacy-preserving tool is used to create a secure environment for computing a class of predictive controllers called predictive functional control by distributing data in the cloud. This controller is known for its simplicity retaining the basic features of pre-dictive controls. The proposed encrypted predictive functional controller is applied on a flexible single-interface robotic arm and its effectiveness is assessed by a set of simulations.