A False Data Injection Attack Model Targeting Passivity of Encrypted Wave Variable Based Bilateral Control System

In this study, we proposed a false data injection (FDI) attack model targeting passivity of an encrypted bilateral control system. The implementation of encrypted control keeps important parameters in the control system secret. In addition, the encrypted control is sensitive for streaming data falsification and useful for detecting FDI attacks. In particular, there is a lot of research aimed at achieving secure teleoperation by encrypted bilateral control systems. However, there will be some types of attacks that are difficult to detect due to the structure of the calculation process of the encrypted control. The objective of this study is to propose a FDI attack model that is effective to the encrypted wave variable based bilateral control. This attack is difficult to detect by conventional detection method using encrypted control and can break the passivity of the system if the attack is performed for a long enough time. We implemented the encrypted bilateral control system into an experimental setup using the same type of pneumatic cylinders as the master and follower devices and verified the performance of the proposed attack model. As a result of the experiment, we confirmed that the proposed attack model was imperceptible by the encrypted control, and the passivity of the whole system was broken.