Related papers: Approximate Energetic Resilience of Nonlinear Syst…
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…
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…
In environments with uncertainties or undesirable influences, control systems can require additional energy to achieve their task while remaining resilient to these influences. In this paper, we present an energetic resilience metric that…
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…
We introduce a data-based approach to estimating key quantities which arise in the study of nonlinear control systems and random nonlinear dynamical systems. Our approach hinges on the observation that much of the existing linear theory may…
Critical systems must be designed resilient to all kinds of malfunctions. We are especially interested by the loss of control authority over actuators. This malfunction considers actuators producing uncontrolled and possibly undesirable…
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…
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…
Motivated by the design question of additional fuel needed to complete a task in an uncertain environment, this paper introduces metrics to quantify the maximal additional energy used by a control system in the presence of bounded…
In this paper, we consider the notions of effort and resilience of a dynamical control system defined by the maximum disturbance the system can withstand while satisfying given finite temporal logic specifications. Given a dynamical system…
Learning to control unknown nonlinear dynamical systems is a fundamental problem in reinforcement learning and control theory. A commonly applied approach is to first explore the environment (exploration), learn an accurate model of it…
Comparable to the traditional notion of stability in system dynamics, resilience is typically measured in a way that assesses the quality of a system's response, for example the speed of its recovery. We present a broadly applicable…
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…
Resilient systems are able to recover quickly and easily from disturbed system states that might result from hazardous events or malicious attacks. In this paper a novel resilience metric for linear time invariant systems is proposed: the…
Controllability and observability energy functions play a fundamental role in model order reduction and are inherently connected to optimal control problems. For linear dynamical systems the energy functions are known to be quadratic…
This paper investigates the fundamental information-theoretic limits for the control and sensing of noiseless linear dynamical systems subject to a broad class of nonlinear observations. We analyze the interactions between the control and…
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…
We present a method to quantify a system's resilience capacity, i.e., the set of degradation magnitudes for which all functional requirements remain satisfied. These requirements come from human stakeholders (e.g., operators, planners) who…
Determining the reachable set for a given nonlinear control system is crucial for system control and planning. However, computing such a set is impossible if the system's dynamics are not fully known. This paper is motivated by a scenario…