Abstract:
When failure is not an option, systems are designed to be resistant to various malfunctions, such as a loss of control authority over actuators. This malfunction consists...Show MoreMetadata
Abstract:
When failure is not an option, systems are designed to be resistant to various malfunctions, such as a loss of control authority over actuators. This malfunction consists in some actuators producing uncontrolled and, thus, possibly undesirable inputs with their full actuation range. After such a malfunction, a system is deemed resilient if its target is still reachable despite these undesirable inputs. However, the malfunctioning system might be significantly slower to reach its target compared to its initial capabilities. To quantify this loss of performance, we introduce the notion of quantitative resilience as the maximal ratio over all targets of the minimal reach times for the initial and malfunctioning systems. Since quantitative resilience is then defined as four nested nonlinear optimization problems, we establish an efficient computation method for control systems with multiple integrators and nonsymmetric input sets. Relying on control theory and on two specific geometric results, we reduce the computation of quantitative resilience to a linear optimization problem. We illustrate our method on an octocopter.
Published in: IEEE Transactions on Automatic Control ( Volume: 68, Issue: 12, December 2023)
Funding Agency:
Department of Aerospace Engineering, University of Illinois Urbana–Champaign, Urbana, IL, USA
Jean-Baptiste Bouvier received the dual master’s degree in aerospace engineering from the University of Illinois Urbana–Champaign (UIUC), Urbana, IL, USA, in 2018, and from the Institut Supérieur de l'Aéronautique et de l'Espace, Toulouse, France, in 2019, and the Ph.D. degree in aerospace engineering from UIUC, in 2023.
He is currently a Postdoctoral Research Associate with the Department of Aerospace Engineering at UIUC....Show More
Jean-Baptiste Bouvier received the dual master’s degree in aerospace engineering from the University of Illinois Urbana–Champaign (UIUC), Urbana, IL, USA, in 2018, and from the Institut Supérieur de l'Aéronautique et de l'Espace, Toulouse, France, in 2019, and the Ph.D. degree in aerospace engineering from UIUC, in 2023.
He is currently a Postdoctoral Research Associate with the Department of Aerospace Engineering at UIUC....View more
Department of Aerospace Engineering, University of Illinois Urbana–Champaign, Urbana, IL, USA
Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA
Kathleen Xu received the B.S. degree in aerospace engineering from the University of Illinois Urbana–Champaign, Urbana, IL, USA, in 2021. She is currently working toward the Ph.D. degree in aeronautics and astronautics with the Massachusetts Institute of Technology, Cambridge, MA, USA, in 2021.
Her research interests include the intersection of controls and learning.
Kathleen Xu received the B.S. degree in aerospace engineering from the University of Illinois Urbana–Champaign, Urbana, IL, USA, in 2021. She is currently working toward the Ph.D. degree in aeronautics and astronautics with the Massachusetts Institute of Technology, Cambridge, MA, USA, in 2021.
Her research interests include the intersection of controls and learning.View more
Department of Aerospace Engineering and the Coordinated Science Laboratory, University of Illinois Urbana–Champaign, Urbana, IL, USA
Melkior Ornik (Senior Member, IEEE) received the Ph.D. degree in electrical and computer engineering from the University of Toronto, Toronto, ON, Canada, in 2017.
He is currently an Assistant Professor with the Department of Aerospace Engineering and the Coordinated Science Laboratory, University of Illinois at Urbana–Champaign, Urbana, IL, USA. His research interests include developing theory and algorithms for learning a...Show More
Melkior Ornik (Senior Member, IEEE) received the Ph.D. degree in electrical and computer engineering from the University of Toronto, Toronto, ON, Canada, in 2017.
He is currently an Assistant Professor with the Department of Aerospace Engineering and the Coordinated Science Laboratory, University of Illinois at Urbana–Champaign, Urbana, IL, USA. His research interests include developing theory and algorithms for learning a...View more
Contents Department of Aerospace Engineering, University of Illinois Urbana–Champaign, Urbana, IL, USA
Jean-Baptiste Bouvier received the dual master’s degree in aerospace engineering from the University of Illinois Urbana–Champaign (UIUC), Urbana, IL, USA, in 2018, and from the Institut Supérieur de l'Aéronautique et de l'Espace, Toulouse, France, in 2019, and the Ph.D. degree in aerospace engineering from UIUC, in 2023.
He is currently a Postdoctoral Research Associate with the Department of Aerospace Engineering at UIUC. His research interests include building a mathematical control theory to verify and quantify the resilience of autonomous systems to partial loss of control authority over their actuators.
Jean-Baptiste Bouvier received the dual master’s degree in aerospace engineering from the University of Illinois Urbana–Champaign (UIUC), Urbana, IL, USA, in 2018, and from the Institut Supérieur de l'Aéronautique et de l'Espace, Toulouse, France, in 2019, and the Ph.D. degree in aerospace engineering from UIUC, in 2023.
He is currently a Postdoctoral Research Associate with the Department of Aerospace Engineering at UIUC. His research interests include building a mathematical control theory to verify and quantify the resilience of autonomous systems to partial loss of control authority over their actuators.View more
Department of Aerospace Engineering, University of Illinois Urbana–Champaign, Urbana, IL, USA
Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA
Kathleen Xu received the B.S. degree in aerospace engineering from the University of Illinois Urbana–Champaign, Urbana, IL, USA, in 2021. She is currently working toward the Ph.D. degree in aeronautics and astronautics with the Massachusetts Institute of Technology, Cambridge, MA, USA, in 2021.
Her research interests include the intersection of controls and learning.
Kathleen Xu received the B.S. degree in aerospace engineering from the University of Illinois Urbana–Champaign, Urbana, IL, USA, in 2021. She is currently working toward the Ph.D. degree in aeronautics and astronautics with the Massachusetts Institute of Technology, Cambridge, MA, USA, in 2021.
Her research interests include the intersection of controls and learning.View more
Department of Aerospace Engineering and the Coordinated Science Laboratory, University of Illinois Urbana–Champaign, Urbana, IL, USA
Melkior Ornik (Senior Member, IEEE) received the Ph.D. degree in electrical and computer engineering from the University of Toronto, Toronto, ON, Canada, in 2017.
He is currently an Assistant Professor with the Department of Aerospace Engineering and the Coordinated Science Laboratory, University of Illinois at Urbana–Champaign, Urbana, IL, USA. His research interests include developing theory and algorithms for learning and planning of autonomous systems operating in uncertain, complex, and changing environments, as well as in scenarios where only limited knowledge of the system is available.
Melkior Ornik (Senior Member, IEEE) received the Ph.D. degree in electrical and computer engineering from the University of Toronto, Toronto, ON, Canada, in 2017.
He is currently an Assistant Professor with the Department of Aerospace Engineering and the Coordinated Science Laboratory, University of Illinois at Urbana–Champaign, Urbana, IL, USA. His research interests include developing theory and algorithms for learning and planning of autonomous systems operating in uncertain, complex, and changing environments, as well as in scenarios where only limited knowledge of the system is available.View more