Cross-Layer Control Adaptation for Autonomous System Resilience

被引:0
|
作者
Momtaz, Md Imran [1 ]
Banerjee, Suvadeep [1 ]
Pandey, Sujay [1 ]
Abraham, Jacob [2 ]
Chatterjee, Abhijit [1 ]
机构
[1] Georgia Inst Technol, Sch Elect & Comp Engn, Atlanta, GA 30332 USA
[2] Univ Texas Austin, Dept Elect & Comp Engn, Austin, TX 78712 USA
来源
2018 IEEE 24TH INTERNATIONAL SYMPOSIUM ON ON-LINE TESTING AND ROBUST SYSTEM DESIGN (IOLTS 2018) | 2018年
基金
美国国家科学基金会;
关键词
System resilience; error tolerance; checksum encoding; autonomous systems;
D O I
暂无
中图分类号
TP3 [计算技术、计算机技术];
学科分类号
0812 ;
摘要
The last decade has seen tremendous advances in the transformation of ubiquitous control, computing and communication platforms that are anytime, anywhere. These platforms allow humans to interact with machines through sensing, control and actuation functions in ways not imaginable a few decades ago. While robust control techniques aim to maintain autonomous system performance in the presence of bounded modeling errors, they are not designed to manage large multiparameter variations and internal component failures that are inevitable during lengthy periods of field deployment. To address the trustworthiness of autonomous systems in the field, we propose a cross-layer error resilience approach in which errors are detected and corrected at appropriate levels of the design (hardware-through software) with the objective of minimizing the latency of error recovery while maintaining high failure coverage. At the control processor level, soft errors in the digital control processor are considered. At the system level, sensor and actuator failures are analyzed. These impairments define the health of the system. A methodology for adapting the control procedure of the autonomous system to compensate for degraded system health is proposed. It is shown how this methodology can be applied to simple linear and nonlinear control systems to maintain system performance in the presence of internal component failures. Experimental results demonstrate the feasibility of the proposed methodology.
引用
收藏
页码:261 / 264
页数:4
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