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Designing Resilient Linear Driftless Systems

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Document pages: 29 pages

Abstract: Critical systems must be designed resilient to the loss of control authorityover some of their actuators. This paper investigates the design of resilientlinear systems capable of reaching their target even after one or multipleactuators started to produce uncontrolled and undesirable inputs. In contrastwith the setting considered by robust control, where perturbations are unknown,we consider undesirable inputs produced by a faulty actuator belonging to thesystem and thus observed in real time. The control inputs can then depend onthese undesirable inputs. Building on our previous work, we establish two novelsufficient conditions for resilient reachability. We then focus on designingresilient systems able to withstand the loss of one or multiple actuators.Since resiliency refers to the existence of a control law driving the state tothe target, we naturally continue with the synthesis of such a control law. Weconclude with a numerical application of our theory on the ADMIRE fighter jetmodel.

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