自主控制系统韧性的指标
Indicators of resilience for autonomous control systems
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中文总结 AI 辅助
本文提出基于临界减速的通用韧性指标，用于预测非线性自主控制系统因细微退化导致的失稳，并通过机器人模拟和四旋翼飞行实验验证其早期预警能力。
中文摘要 AI 辅助
随着现代社会越来越依赖自主系统来便利日常生活，确保其安全运行至关重要。自然，有许多技术可用于预测和预防系统故障。然而，此类方案所提供的安全性可能与真实系统不一致，真实系统可能以意想不到的方式发生变化——从部分故障到自然磨损——这些变化会微妙地削弱其稳定性。这种微妙变化对自主系统稳定性的影响，可以通过从临界减速中推导出的通用韧性指标来观察，临界减速在预测自然系统的灾难性临界点方面很流行。在此，我们展示了如何为非线性控制系统系统地设计这些通用指标，并展示了这些指标如何通过典型机器人系统的模拟来反映稳定性丧失，在这些模拟中，系统与不稳定的接近程度被直接操控。这些结果通过四旋翼飞行器的真实飞行实验得到证实，该飞行器通过逐渐损坏其螺旋桨叶片而被推向不稳定。我们的结果表明，退化韧性对闭环稳定性的影响在其出现之前就已明显可见，为此处推导的韧性指标可以提供早期预警。
英文摘要
As modern societies rely more on autonomous systems to facilitate daily life, assuring their safe operation is paramount. Naturally, there are many techniques available to predict and prevent system failures. However, the safety afforded by such schemes may become misaligned with the true system, which can change in unexpected ways - from partial faults to natural wear-and-tear - that subtly degrade its stability. The implications that such subtle changes have on autonomous system stability can be observed through generic indicators of resilience derived from critical slowing down, popular for anticipating catastrophic tipping points in natural systems. Here, we show how one can systematically design these generic indicators for nonlinear control systems and show how these can reflect loss of stability though simulations of canonical robotic systems wherein their proximity to instability is manipulated directly. These results are affirmed through real-world flight experiments of a quadrotor that is nudged towards instability by progressively damaging its propeller blades. Our results show that the implications of degraded resilience on closed-loop stability are evident well before they appear, for which the indicators of resilience derived here can provide an early warning.
发表机构
- Delft University of Technology（代尔夫特理工大学）
机构由 AI 辅助整理，请以论文原文为准。
