Related papers: Designing Resilient Linear Driftless Systems
This paper introduces the notion of quantitative resilience of a control system. Following prior work, we study systems enduring a loss of control authority over some of their actuators. Such a malfunction results in actuators producing…
When a malfunction causes a control system to lose authority over a subset of its actuators, achieving a task may require spending additional energy in order to compensate for the effect of uncontrolled inputs. To understand this increase…
Actuator malfunctions may have disastrous consequences for systems not designed to mitigate them. We focus on the loss of control authority over actuators, where some actuators are uncontrolled but remain fully capable. To counteract the…
After a loss of control authority over thrusters of the Nauka module, the International Space Station lost attitude control for 45 minutes with potentially disastrous consequences. Motivated by this scenario, we investigate the continued…
To design critical systems engineers must be able to prove that their system can continue with its mission even after losing control authority over some of its actuators. Such a malfunction results in actuators producing possibly…
In this paper, we quantify the resilience of nonlinear dynamical systems by studying the increased energy used by all inputs of a system that suffers a partial loss of control authority, either through actuator malfunctions or through…
Resilience to damage, component degradation, and adversarial action is a critical consideration in design of autonomous systems. In addition to designing strategies that seek to prevent such negative events, it is vital that an autonomous…
Resilience of cyber-physical networks to unexpected failures is a critical need widely recognized across domains. For instance, power grids, telecommunication networks, transportation infrastructures and water treatment systems have all…
Fault tolerance is achieved through multiply redundant hardware systems in large civil aircraft. This means of achieving fault tolerance is infeasible for small compact unmanned aerial vehicles. In this paper we apply a fault tolerant…
In this paper, we consider the notion of resilience of a dynamical system, defined by the maximum disturbance a controlled dynamical system can withstand while satisfying given temporal logic specifications. Given a dynamical system and a…
The vast majority of today's critical infrastructure is supported by numerous feedback control loops and an attack on these control loops can have disastrous consequences. This is a major concern since modern control systems are becoming…
The robust disturbance rejection controller has been the subject of intensive research due to its undeniable importance for automation. Modern control theory tends to use model-based approaches versus model-free approaches, especially when…
We consider the computation of resilient controllers for perturbed non-linear dynamical systems w.r.t. linear-time temporal logic specifications. We address this problem through the paradigm of Abstraction-Based Controller Design (ABCD)…
In this paper we investigate the design of an active fault tolerant control system applicable to autonomous flight. The system comprises a nonlinear model predictive based controller integrated with an unscented Kalman filter for fault…
We investigate resilient control strategies for linear systems under Denial-of-Service (DoS) attacks. By DoS attacks we mean interruptions of communication on measurement (sensor-to-controller) and/or control (controller-to-actuator)…
In this paper, a new framework for the resilient control of continuous-time linear systems under denial-of-service (DoS) attacks and system uncertainty is presented. Integrating techniques from reinforcement learning and output regulation…
This paper presents a technique to drive the state of a constrained nonlinear system to a specified target state in finite time, when the system suffers a partial loss in control authority. Our technique builds on a recent method to control…
Maintaining stability in feedback systems, from aircraft and autonomous robots to biological and physiological systems, relies on monitoring their behavior and continuously adjusting their inputs. Incremental damage can make such control…
The safety of autonomous driving systems, particularly self-driving vehicles, remains of paramount concern. These systems exhibit affine nonlinear dynamics and face the challenge of executing predefined control tasks while adhering to state…
Shaping the reachable set of a dynamical system is a fundamental challenge in control design, with direct implications for both performance and safety. This paper considers the problem of selecting the optimal input matrix for a linear…