서브메뉴
검색
Guaranteed Resilience of Autonomous Systems to Partial Loss of Control Authority over Actuators
Guaranteed Resilience of Autonomous Systems to Partial Loss of Control Authority over Actuators
상세정보
- 자료유형
- 학위논문 서양
- 최종처리일시
- 20260209102930
- ISBN
- 9798314843505
- DDC
- 001
- 서명/저자
- Guaranteed Resilience of Autonomous Systems to Partial Loss of Control Authority over Actuators
- 발행사항
- [Sl] : University of Illinois at Urbana-Champaign, 2023
- 발행사항
- Ann Arbor : ProQuest Dissertations & Theses, 2023
- 형태사항
- 177 p
- 주기사항
- Source: Dissertations Abstracts International, Volume: 86-11, Section: B.
- 주기사항
- Advisor: Ornik, Melkior.
- 학위논문주기
- Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 2023.
- 초록/해제
- 요약After docking to the International Space Station (ISS), the Nauka module suffered a software error causing its thrusters to misfire. In turn, these uncontrolled thrusters rotated the whole space station by 540° before being counteracted by other thrusters of the ISS. Motivated by such a scenario, this thesis investigates the guaranteed resilience of autonomous systems to a similar class of malfunctions called partial loss of control authority over actuators. These malfunctions are characterized by actuators producing uncontrolled and undesirable outputs instead of following the controller's commands. A loss of control authority can be caused, for instance, by a software bug as in the ISS example or by an adversarial takeover of some actuators of the system. In this setting, we investigate the malfunctioning system's remaining capabilities to complete its mission in terms of resilient reachability and resilient trajectory tracking. We also quantify the resilience of linear systems by comparing the reachability performance of the nominal dynamics with that of the worst-case malfunctioning dynamics. We extend our resilience investigation to systems further inflicted with actuation delays preventing an immediate cancellation of the undesirable outputs. We illustrate our theory on a wide range of applications including an octocopter, a fighter jet model, and an orbital inspection mission.
- 일반주제명
- Systems science
- 일반주제명
- Aerospace engineering
- 일반주제명
- Mathematics
- 일반주제명
- Robotics
- 키워드
- Resilience
- 키워드
- Control theory
- 키워드
- Actuators
- 기타저자
- University of Illinois at Urbana-Champaign Aerospace Engineering
- 기본자료저록
- Dissertations Abstracts International. 86-11B.
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
008260203s2023 us c eng d■001000017366031
■00520260209102930
■006m o d
■007cr#unu||||||||
■020 ▼a9798314843505
■035 ▼a(MiAaPQ)AAI32063766
■035 ▼a(MiAaPQ)httphdlhandlenet2142120225
■040 ▼aMiAaPQ▼cMiAaPQ
■0820 ▼a001
■1001 ▼aBouvier, Jean-Baptiste.
■24510▼aGuaranteed Resilience of Autonomous Systems to Partial Loss of Control Authority over Actuators
■260 ▼a[Sl]▼bUniversity of Illinois at Urbana-Champaign▼c2023
■260 1▼aAnn Arbor▼bProQuest Dissertations & Theses▼c2023
■300 ▼a177 p
■500 ▼aSource: Dissertations Abstracts International, Volume: 86-11, Section: B.
■500 ▼aAdvisor: Ornik, Melkior.
■5021 ▼aThesis (Ph.D.)--University of Illinois at Urbana-Champaign, 2023.
■520 ▼aAfter docking to the International Space Station (ISS), the Nauka module suffered a software error causing its thrusters to misfire. In turn, these uncontrolled thrusters rotated the whole space station by 540° before being counteracted by other thrusters of the ISS. Motivated by such a scenario, this thesis investigates the guaranteed resilience of autonomous systems to a similar class of malfunctions called partial loss of control authority over actuators. These malfunctions are characterized by actuators producing uncontrolled and undesirable outputs instead of following the controller's commands. A loss of control authority can be caused, for instance, by a software bug as in the ISS example or by an adversarial takeover of some actuators of the system. In this setting, we investigate the malfunctioning system's remaining capabilities to complete its mission in terms of resilient reachability and resilient trajectory tracking. We also quantify the resilience of linear systems by comparing the reachability performance of the nominal dynamics with that of the worst-case malfunctioning dynamics. We extend our resilience investigation to systems further inflicted with actuation delays preventing an immediate cancellation of the undesirable outputs. We illustrate our theory on a wide range of applications including an octocopter, a fighter jet model, and an orbital inspection mission.
■590 ▼aSchool code: 0090.
■650 4▼aSystems science
■650 4▼aAerospace engineering
■650 4▼aMathematics
■650 4▼aRobotics
■653 ▼aResilience
■653 ▼aAutonomous systems
■653 ▼aControl theory
■653 ▼aInternational Space Station
■653 ▼aActuators
■690 ▼a0538
■690 ▼a0790
■690 ▼a0405
■690 ▼a0771
■71020▼aUniversity of Illinois at Urbana-Champaign▼bAerospace Engineering.
■7730 ▼tDissertations Abstracts International▼g86-11B.
■790 ▼a0090
■791 ▼aPh.D.
■792 ▼a2023
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T17366031▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
