We consider the computation of resilient controllers for perturbed non-linear dynamical systems w.r.t. linear-time temporal logic specifications. We address this problem through the paradigm of Abstraction-Based Controller Design (ABCD) where a finite state abstraction of the perturbed system dynamics is constructed and utilized for controller synthesis. In this context, our contribution is twofold: (I) We construct abstractions which model the impact of occasional high disturbance spikes on the system via so called disturbance edges. (II) We show that the application of resilient reactive synthesis techniques to these abstract models results in closed loop systems which are optimally resilient to these occasional high disturbance spikes. We have implemented this resilient ABCD workflow on top of SCOTS and showcase our method through multiple robot planning examples.

中文翻译：

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基于弹性抽象的控制器设计

我们考虑了对线性时间时序逻辑规范的受扰非线性动态系统的弹性控制器的计算。我们通过基于抽象的控制器设计 (ABCD) 的范式来解决这个问题，其中构造了扰动系统动力学的有限状态抽象并将其用于控制​​器综合。在这种情况下，我们的贡献是双重的：（I）我们构建抽象模型，通过所谓的干扰边来模拟偶尔的高干扰尖峰对系统的影响。(II) 我们表明，将弹性反应合成技术应用于这些抽象模型会导致闭环系统对这些偶尔出现的高干扰尖峰具有最佳弹性。