2024/03/23 by Mohammad Bajelani, Bajelani, Mohammad, Attar, Mehran +4 · 1 citation
Computer Science · Decision Sciences · Engineering · #FOS: Electrical engineering #Risk and Safety Analysis #Safety Systems Engineering in Autonomy #Software Reliability and Analysis Research #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2403.15854
openalex publication_date 2024/03/23 · openalex created_date 2025/10/10 · openalex updated_date 2026/08/01
Nowadays, many control systems are networked and embed communication and computation capabilities. Such control architectures are prone to cyber attacks on the cyberinfrastructure. Consequently, there is an impellent need to develop solutions to preserve the plant's safety against potential attacks. To ensure safety, this paper introduces a modular safety filter approach that is effective for various cyber-attack types. This solution can be implemented in combination with existing control and detection algorithms, effectively separating safety from performance. The safety filter does not require information on the received command's reliability or the anomaly detector's feature. It can be implemented in conjunction with high-performance, resilient controllers to achieve both high performance during normal operation and safety during an attack. As an illustrative example, we have shown the effectiveness of the proposed design considering a multi-agent formation task involving 20 mobile robots. The simulation results testify that the safety filter operates effectively during undetectable, intelligent attacks.