An STL-based Approach to Resilient Control for Cyber-Physical Systems

DOI10.1145/3575870.3587119MaRDI QIDQ6202074zbMATH OpenOpenAlexFDO

Authors Hongkai Chen, Scott A. Smolka, Nicola Paoletti, Shan Lin

Publication date 21 February 2024

Published in Proceedings of the 26th ACM International Conference on Hybrid Systems: Computation and Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2211.02794

Mathematics Subject Classification ID

Formal languages and automata (68Q45) Specification and verification (program logics, model checking, etc.) (68Q60) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30)

Abstract: We present ResilienC, a framework for resilient control of Cyber-Physical Systems subject to STL-based requirements. ResilienC utilizes a recently developed formalism for specifying CPS resiliency in terms of sets of $(mathitrec,mathitdur)$ real-valued pairs, where $mathitrec$ represents the system's capability to rapidly recover from a property violation (recoverability), and $mathitdur$ is reflective of its ability to avoid violations post-recovery (durability). We define the resilient STL control problem as one of multi-objective optimization, where the recoverability and durability of the desired STL specification are maximized. When neither objective is prioritized over the other, the solution to the problem is a set of Pareto-optimal system trajectories. We present a precise solution method to the resilient STL control problem using a mixed-integer linear programming encoding and an a posteriori $epsilon$-constraint approach for efficiently retrieving the complete set of optimally resilient solutions. In ResilienC, at each time-step, the optimal control action selected from the set of Pareto-optimal solutions by a Decision Maker strategy realizes a form of Model Predictive Control. We demonstrate the practical utility of the ResilienC framework on two significant case studies: autonomous vehicle lane keeping and deadline-driven, multi-region package delivery.

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