Abstract
This paper presents a design methodology for a class of behaviour-based control systems, arguing its potential for application to safety critical systems. We propose a formal basis for subsumption architecture design based on two extensions to Lyapunov stability theory, the Second Order Stability Theorems, and interpretations of system safety and liveness in Lyapunov stability terms. The subsumption of the new theorems by the classical stability theorems serves as a model of dynamical subsumption, forming the basis of the design methodology. Behaviour-based control also offers the potential for using simple computational mechanisms, which will simplify the safety assurance process.
Highlights
Intelligent control techniques have not to date found widespread application in systems that demand high levels of dependability, such as safety critical systems
In this paper we present an investigation into methods that will allow intelligent control systems to be used in the same manner as conventional control systems are used today
The argument that Lyapunov stability properties can serve as expressions of safety and liveness properties is contingent on our assertion of the equivalences between the parameters of safety, liveness, asymptotic stability and instability that we have proposed
Summary
Intelligent control techniques have not to date found widespread application in systems that demand high levels of dependability, such as safety critical systems. Intelligent control systems, based upon recent techniques from artificial intelligence or mobile robotics are difficult to validate formally using conventional approaches to system analysis and test. Safety critical systems are required to undergo a safety certification process prior to their introduction into service. Within this process, the safety properties of the system are rigorously validated, to establish that it will be safe within a known range of environmental conditions. Liveness is usually demonstrated through verification and validation methods such as static analysis or testing [37]. Safety is generally demonstrated by various failure analyses (functional and non-functional) and by more specialised testing processes such as environmental testing, reliability testing, and fault injection testing
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