Abstraction-Free Control Synthesis to Satisfy Temporal Logic Constraints under Sensor Faults and Attacks
Abstraction-Free Control Synthesis to Satisfy Temporal Logic Constraints under Sensor Faults and Attacks
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DOI：
10.1109/cdc51059.2022.9992935
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发表时间：
2022-08
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影响因子：
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通讯作者：
Luyao Niu;Zhouchi Li;Andrew Clark
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作者：
Luyao Niu;Zhouchi Li;Andrew Clark
我们研究的问题，合成一个控制器，以满足一个复杂的任务中存在的传感器故障和攻击。我们使用高斯分布时序逻辑（GDTL）的任务建模，并提出了一种解决方案，不依赖于计算任何有限的抽象来模拟系统。我们将GDTL规范分解为一系列的到达-避免子任务。我们开发了一类容错的有限时间收敛控制障碍函数（CBF），以保证动力系统在有限时间内几乎肯定会达到一个集的恶意攻击。我们使用容错有限时间收敛的CBF来保证“到达”性质的满足。我们使用容错调零CBF确保每个子任务中的“避免”部分。这些容错CBF制定了一组线性约束的控制输入为每个子任务。我们证明了，如果系统状态估计所引起的误差是有界的某一阈值，那么我们的合成控制器几乎一定会满足每个达到避免子任务的任何可能的传感器故障和攻击，从而GDTL规格是满足概率1。我们证明了我们提出的方法使用两轮移动的机器人的协调数值研究。
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.