Samuel, S and Mallik, K and Schmuck, AK and Neider, D (2020) Resilient Abstraction-Based Controller Design. In: 59th IEEE Conference on Decision and Control, CDC 2020, 14 - 18 Dec 2020, Virtual, Jeju Island; South Korea, pp. 2123-2129.
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Abstract
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) where a finite state abstraction of the perturbed system dynamics is constructed and utilized for controller synthesis. In this context, our contribution is twofold: (I) We construct abstractions which model the impact of occasional high disturbance spikes on the system via so called disturbance edges. (II) We show that the application of resilient reactive synthesis techniques to these abstract models results in closed loop systems which are optimally resilient to these occasional high disturbance spikes. We have implemented this resilient ABCD workflow on top of SCOTS and showcase our method through multiple robot planning examples. © 2020 IEEE.
| Item Type: | Conference Paper |
|---|---|
| Publication: | Proceedings of the IEEE Conference on Decision and Control |
| Publisher: | Institute of Electrical and Electronics Engineers Inc. |
| Additional Information: | The copyright of this article belongs to Institute of Electrical and Electronics Engineers Inc. |
| Keywords: | Closed loop systems; Dynamical systems; Linear control systems; Robot programming; Temporal logic, Abstract models; Controller designs; Controller synthesis; Finite-state abstraction; Linear time temporal logic; Perturbed systems; Reactive synthesis; Resilient controller, Controllers |
| Department/Centre: | Division of Electrical Sciences > Computer Science & Automation |
| Date Deposited: | 16 Feb 2021 11:51 |
| Last Modified: | 16 Feb 2021 11:51 |
| URI: | http://eprints.iisc.ac.in/id/eprint/67974 |
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