论文标题
通过控制屏障功能在故障和攻击下对非线性系统的安全控制
Safe Control for Nonlinear Systems Under Faults and Attacks Via Control Barrier Functions
论文作者
论文摘要
安全是控制系统最重要的特性之一。传感器故障，攻击和执行器故障可能会导致传感器测量和系统动态的错误，从而导致错误的控制输入，从而导致安全违规。在本文中，我们通过提出针对非线性系统的一类容忍故障控制屏障功能（FT-CBF）来提高对传感器断层和执行器故障的鲁棒性。我们的方法根据故障模式维护一组状态估计器，并为每个状态估计器合并了基于CBF的线性约束。然后，我们通过将FT-CBF与控制Lyapunov函数整合在一起，提出了一个关节安全性和稳定性的框架。我们凭借使用冗余的类似理念，我们提出了基于高级CBF的高级方法，以确保在执行失败时安全。我们提出了一种基于平方（SOS）的方法，以验证FT-CBF对传感器故障和执行器故障的可行性。我们通过两个案例研究（即在有传感器攻击的存在和在执行器故障下的波音747横向控制系统的情况下）评估我们的方法。
Safety is one of the most important properties of control systems. Sensor faults and attacks and actuator failures may cause errors in the sensor measurements and system dynamics, which leads to erroneous control inputs and hence safety violations. In this paper, we improve the robustness against sensor faults and actuator failures by proposing a class of Fault-Tolerant Control Barrier Functions (FT-CBFs) for nonlinear systems. Our approach maintains a set of state estimators according to fault patterns and incorporates CBF-based linear constraints for each state estimator. We then propose a framework for joint safety and stability by integrating FT-CBFs with Control Lyapunov Functions. With a similar philosophy of utilizing redundancy, we proposed High order CBF-based approach to ensure safety when actuator failures occur. We propose a sum-of-squares (SOS) based approach to verify the feasibility of FT-CBFs for both sensor faults and actuator failures. We evaluate our approach via two case studies, namely, a wheeled mobile robot (WMR) system in the presence of a sensor attack and a Boeing 747 lateral control system under actuator failures.
