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Resilient Parameter-Invariant Control with Application to Vehicle Cruise Control

  • James WeimerEmail author
  • Nicola Bezzo
  • Miroslav Pajic
  • George J. Pappas
  • Oleg Sokolsky
  • Insup Lee
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 449)

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.

Keywords

Secure Cyber-Physical Systems Robust Control Resilient Sensor Fusion 

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Copyright information

© Springer International Publishing Switzerland 2013

Authors and Affiliations

  • James Weimer
    • 1
    Email author
  • Nicola Bezzo
    • 1
  • Miroslav Pajic
    • 1
  • George J. Pappas
    • 1
  • Oleg Sokolsky
    • 1
  • Insup Lee
    • 1
  1. 1.School of Engineering and Applied SciencesUniversity of PennsylvaniaPhiladelphiaUSA

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