A multilevel sampled‐data approach for resilient navigation and control of autonomous systems
A multilevel sampled‐data approach for resilient navigation and control of autonomous systems
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DOI：
10.1002/rnc.4814
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发表时间：
2019-12
影响因子：
3.9
通讯作者：
H. Jafarnejadsani;Neng Wan;N. Hovakimyan;P. Voulgaris
中科院分区：
文献类型：
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作者：
H. Jafarnejadsani;Neng Wan;N. Hovakimyan;P. Voulgaris
自主系统正迅速成为现代生活的一个组成部分。在存在不确定性、物理故障和网络攻击的情况下，这些系统的安全和可靠的导航和控制提出了重大挑战。在本文中，我们制定了一个导航和控制问题的自治系统使用多级控制结构，其中高级别的参考命令是由饱和函数的限制，而低级别的控制器跟踪的参考，通过补偿干扰和不确定性。为此，我们考虑一类嵌套的，不确定的，多输入多输出系统的参考命令饱和，可能与非最小相位零点。一个多速率输出反馈L1自适应控制器被开发作为低级别的控制器。该控制器的采样数据（SD）设计便于在数字计算机上直接实现，其中输入/输出信号在离散时刻以不同的采样率提供。此外，通过考虑多速率SD公式，隐形零动态攻击变得可检测。分析了具有指令饱和和多速率L1自适应控制的整个闭环系统的鲁棒稳定性和性能。提供了故障/攻击下固定翼无人机的导航和控制的仿真场景，以验证理论研究结果。
Autonomous systems are rapidly becoming an integrated part of the modern life. Safe and secure navigation and control of these systems present significant challenges in the presence of uncertainties, physical failures, and cyber attacks. In this paper, we formulate a navigation and control problem for autonomous systems using a multilevel control structure, in which the high‐level reference commands are limited by a saturation function, whereas the low‐level controller tracks the reference by compensating for disturbances and uncertainties. For this purpose, we consider a class of nested, uncertain, multiple‐input–multiple‐output systems subject to reference command saturation, possibly with nonminimum phase zeros. A multirate output‐feedback L1 adaptive controller is developed as the low‐level controller. The sampled‐data (SD) design of this controller facilitates the direct implementation on digital computers, where the input/output signals are available at discrete time instances with different sampling rates. In addition, stealthy zero‐dynamics attacks become detectable by considering a multirate SD formulation. Robust stability and performance of the overall closed‐loop system with command saturation and multirate L1 adaptive control are analyzed. Simulation scenarios for navigation and control of a fixed‐wing drone under failures/attacks are provided to validate the theoretical findings.