论文标题
无抽象的控制合成以满足传感器故障和攻击下的时间逻辑约束
Abstraction-Free Control Synthesis to Satisfy Temporal Logic Constraints under Sensor Faults and Attacks
论文作者
论文摘要
我们研究了在存在传感器故障和攻击的情况下合成控制器以满足复杂任务的问题。我们使用高斯分布时间逻辑（GDTL）对任务进行建模，并提出了一种不依赖于计算任何有限抽象来建模系统的解决方案方法。我们将GDTL规范分解为一系列避免范围的子任务。我们开发一类容忍的有限时间收敛控制屏障功能（CBF），以确保在存在恶意攻击的情况下，动态系统几乎肯定会在有限的时间内达到集合。我们使用容忍度的有限时间收敛CBF来确保“到达”属性的满意度。我们使用容忍零CBF确保在每个子任务中避免“避免”零件。这些容忍故障的CBF在每个子任务的控件输入上制定了一组线性约束。我们证明，如果系统状态估计所产生的误差是由一定阈值界定的，那么我们的合成控制器几乎可以肯定地满足每个可能的传感器故障和攻击，因此，GDTL规范对概率一个。我们使用有关两个轮式移动机器人协调的数值研究证明了我们提出的方法。
We study the problem of synthesizing a controller to satisfy a complex task in the presence of sensor faults and attacks. We model the task using Gaussian distribution temporal logic (GDTL), and propose a solution approach that does not rely on computing any finite abstraction to model the system. We decompose the GDTL specification into a sequence of reach-avoid sub-tasks. We develop a class of fault-tolerant finite time convergence control barrier functions (CBFs) to guarantee that a dynamical system reaches a set within finite time almost surely in the presence of malicious attacks. We use the fault-tolerant finite time convergence CBFs to guarantee the satisfaction of `reach' property. We ensure `avoid' part in each sub-task using fault-tolerant zeroing CBFs. These fault-tolerant CBFs formulate a set of linear constraints on the control input for each sub-task. We prove that if the error incurred by system state estimation is bounded by a certain threshold, then our synthesized controller fulfills each reach-avoid sub-task almost surely for any possible sensor fault and attack, and thus the GDTL specification is satisfied with probability one. We demonstrate our proposed approach using a numerical study on the coordination of two wheeled mobile robots.
