Secure Control of Networked Inverted Pendulum Visual Servo Systems Based on Active Disturbance Rejection Control

This paper investigates secure control of Networked Inverted Pendulum Visual Servo Systems (NIPVSSs) based on Active Disturbance Rejection Control (ADRC). Firstly, considering the network- and image-induced delays in conjuction with computational errors caused by image processing attacks, model NIPVSSs is established. Secondly, limitations traditional Single-Input-Single-Output (SISO) ADRC used disturbance are revealed. The that ESO SISO brings large steady-state error, NLSEF can achieve stable pendulum angle, but cannot cart position. Thirdly, a new Single-Input-Multi-Output (SIMO) method proposed for disturbance. In SIMO method, designed introducing additional first second derivatives error to reduce error. addition, developed taking both calculated position angle as inputs dual Finally, combined parameter-tuning strategy, results from simulation real-world experiments confirm effectiveness feasibility method.