论文标题
安全 - 关键的在线控制和对抗性干扰
Safety-Critical Online Control with Adversarial Disturbances
论文作者
论文摘要
本文在存在对抗性干扰的情况下研究了安全 - 关键动力学系统的控制。我们试图合成国家反馈控制器，以最大程度地减少由于干扰而产生的成本，同时尊重安全限制。安全限制由对H-INF规范的界限给出，而成本则指定为系统H-2标准的上限。我们考虑一个在线设置，只有在选择当时的控制器之后，每个时间都会揭示每次成本。我们通过求解修改的离散时间riccati方程来提出一种迭代方法来合成控制器的方法。该方程的解决方案强制执行安全限制。当人们完全了解事后的干扰和成本时，我们将该控制器的成本与最佳控制器的成本进行了比较。我们表明，遗憾函数定义为这些成本之间的差异，随时间范围的对数而变化。我们在过程控制设置上验证我们的方法，该设置受两种对抗性攻击的影响。
This paper studies the control of safety-critical dynamical systems in the presence of adversarial disturbances. We seek to synthesize state-feedback controllers to minimize a cost incurred due to the disturbance, while respecting a safety constraint. The safety constraint is given by a bound on an H-inf norm, while the cost is specified as an upper bound on the H-2 norm of the system. We consider an online setting where costs at each time are revealed only after the controller at that time is chosen. We propose an iterative approach to the synthesis of the controller by solving a modified discrete-time Riccati equation. Solutions of this equation enforce the safety constraint. We compare the cost of this controller with that of the optimal controller when one has complete knowledge of disturbances and costs in hindsight. We show that the regret function, which is defined as the difference between these costs, varies logarithmically with the time horizon. We validate our approach on a process control setup that is subject to two kinds of adversarial attacks.
