Resilient Parameter-Invariant Control With Application to Vehicle Cruise Control

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. Disciplines Computer Engineering | Computer Sciences Comments Workshop on Control of Cyber-Physical Systems, Johns Hopkins University, Baltimore, MD, March 20-21, 2013 Author(s) James Weimer, Nicola Bezzo, Miroslav Pajic, George J. Pappas, Oleg Sokolsky, and Insup Lee This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/cis_papers/754 Resilient Parameter-Invariant Control with Application to Vehicle Cruise Control James Weimer, Nicola Bezzo, Miroslav Pajic, George J. Pappas, Oleg Sokolsky, and Insup Lee School of Engineering and Applied Sciences University of Pennsylvania Philadelphia, PA 19104, USA {weimerj,nicbezzo,pajic,pappasg}@seas.upenn.edu {sokolsky,lee}@cis.upenn.edu Abstract. 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. 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.