Graph-Based Controller Synthesis for Safety-Constrained, Resilient Systems

Matija Bucic, Melkior Ornik, Ufuk Topcu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

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 system remains able to achieve its control objective even if the system partially loses control authority. While loss of authority limits the system's control capabilities, it may be possible to use the remaining authority in such a way that the system's control objectives remain achievable. In this paper, we consider the problem of optimal design for an autonomous system with discrete-time linear dynamics where the available control actions depend on adversarial input produced as a result of loss of authority. The central question is how to partition the set of control inputs that the system can apply in such a way that the system state remains within a safe set regardless of an adversarial input limiting the available control inputs to a single partition elements. We interpret such a problem first as a variant of a safety game, and then as a problem of existence of an appropriate edge labeling on a graph. We obtain conditions for existence and a computationally efficient algorithm for determining a system design and a control policy that preserve system safety. We illustrate our results on two examples: a damaged autonomous vehicle and a method of communication over a channel that ensures a minimal running digital sum.

Original languageEnglish (US)
Title of host publication2018 56th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages297-304
Number of pages8
ISBN (Electronic)9781538665961
DOIs
StatePublished - Feb 5 2019
Externally publishedYes
Event56th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2018 - Monticello, United States
Duration: Oct 2 2018Oct 5 2018

Publication series

Name2018 56th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2018

Conference

Conference56th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2018
Country/TerritoryUnited States
CityMonticello
Period10/2/1810/5/18

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Hardware and Architecture
  • Signal Processing
  • Energy Engineering and Power Technology
  • Control and Optimization

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