Resilient abstraction-based controller design

Abstract

We consider the computation of resilient controllers for perturbed non-linear dynamical systems w.r.t. linear-time temporal logic specifications. We address this problem through the paradigm of Abstraction-Based Controller Design (ABCD) where a finite state abstraction of the perturbed system dynamics is constructed and utilized for controller synthesis. In this context, our contribution is twofold: (I) We construct abstractions which model the impact of occasional high disturbance spikes on the system via so called disturbance edges. (II) We show that the application of resilient reactive synthesis techniques to these abstract models results in closed loop systems which are optimally resilient to these occasional high disturbance spikes. We have implemented this resilient ABCD workflow on top of SCOTS and showcase our method through multiple robot planning examples.

Resilient Abstraction-Based Controller Design

“…We tested RESCOT on various unicycle motion planning problems. We present the outcome of only one example; additional details and examples can be found in [21].…”

“…Owing to the space limitation, in this paper, we only present the gist of our approach; additional material can be found in an extended version [21].…”

Robustness-by-Construction Synthesis: Adapting to the Environment at Runtime

“…The example above shows that reactive systems must not only be correct but should also be robust to unexpected environment behavior. The notion of robustness we use in this paper is inspired by concepts from control theory [19,30,31,33] and requires that deviations from the environment assumptions result in at most proportional violations of the system guarantee. More precisely, "minor" violations of the environment assumption should only cause "minor" violations of the system guarantee, while "major" violations of the environment assumption allow for "major" violations of the system guarantee.…”