Bouvier Jean-Baptiste, Ornik Melkior
Dept. of Aerospace Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801 USA.
Dept. of Aerospace Engineering & Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL 61801 USA.
IFAC Pap OnLine. 2020;53(2):4409-4414. doi: 10.1016/j.ifacol.2020.12.372. Epub 2021 Apr 14.
A fault-tolerant system is able to reach its goal even when some of its components are malfunctioning. This paper examines tolerance to a specific type of malfunction: the loss of control authority over actuators. Namely, we investigate whether the desired target set for a linear system remains reachable under any undesirable input. Contrary to robust control, we assume that the undesirable inputs can be observed in real time, and subsequently allow the control inputs to depend on these undesirable inputs. Building on previous work on reachability with undesirable inputs, this paper develops a reachability condition for linear systems, and obtains a formula that describes reachability of the goal set for driftless linear systems by computing the minimum of a concave-convex objective function. From this formulation we establish two novel sufficient conditions for resilient reachability.
一个容错系统即使在其某些组件发生故障时也能够实现其目标。本文研究对一种特定类型故障的容错能力：对执行器失去控制权。具体而言，我们研究线性系统的期望目标集在任何不良输入下是否仍然可达。与鲁棒控制相反，我们假设可以实时观测到不良输入，随后允许控制输入依赖于这些不良输入。基于先前关于存在不良输入时可达性的工作，本文为线性系统推导了一个可达性条件，并通过计算一个凹凸目标函数的最小值得到了一个描述无漂移线性系统目标集可达性的公式。基于此公式，我们建立了两个新的弹性可达性充分条件。
