Resilient Parameter-Invariant Control with Application to Vehicle Cruise Control

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• 作者：James Weimer (1)
  Nicola Bezzo (1)
  Miroslav Pajic (1)
  George J. Pappas (1)
  Oleg Sokolsky (1)
  Insup Lee (1)
  
• 关键词：Secure Cyber ; Physical Systems ; Robust Control ; Resilient Sensor Fusion
• 刊名：Lecture Notes in Control and Information Sciences
• 出版年：2013
• 出版时间：2013
• 年：2013
• 卷：449
• 期：1
• 页码：217-217
• 全文大小：305KB
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• 作者单位：James Weimer (1)
  Nicola Bezzo (1)
  Miroslav Pajic (1)
  George J. Pappas (1)
  Oleg Sokolsky (1)
  Insup Lee (1)
  
  1. School of Engineering and Applied Sciences, University of Pennsylvania, Philadelphia, PA, 19104, USA
  

文摘

This work addresses the general problem of resilient control of unknown stochastic linear time-invariant (LTI) systems in the presence of sensor attacks. Motivated by a vehicle cruise control application, this work considers a first order system with multiple measurements, of which a bounded subset may be corrupted. A frequency-domain-designed resilient parameter-invariant controller is introduced that simultaneously minimizes the effect of corrupted sensors, while maintaining a desired closed-loop performance, invariant to unknown model parameters. Simulated results illustrate that the resilient parameter-invariant controller is capable of stabilizing unknown state disturbances and can perform state trajectory tracking.