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AUTOMATED DESIGN OF A PETRI NET FEEDBACK CONTROLLER FOR A ROBOTIC ASSEMBLY CELL
 

Summary: AUTOMATED DESIGN OF A PETRI NET FEEDBACK
CONTROLLER FOR A ROBOTIC ASSEMBLY CELL
John 0.Aloody, Panos J. Antsalclis, and hfichael D.Lemnion
Departnienf of Electrical Engineering
Universzfyof Notre Dame, Noire Dame, IN 46556
Email: jmoodyemaddog.ee.nd.edu
1 Introduction
In this paper a method for computing a feedback controller for a manufacturing
assembly cell modeled by a Petri net will be presented and a method for dealing
with uncontrollable and unobservable transitions is proposed. The control goal is
tocenforce a set of linear constraints on the marking behavior or state of thepetri
net. The method discussed here is a powerful means of realizing these constraints
because it is simple to calculate, and t,hePetri net structure of the solution makes
the controller easy to implement,. The controller computation is derived using the
concept of Petri net place invariants. This derivation originally appeared in [.5] and
produces controllers identical to the monitors {2] of Giua et al.
This approach has been recently extended to apply to Petri nets which contain
uncontrollable transitions, the firing of which cannot be forced to or prevented from
occurring if they are currently enabled. This extension also relates to placeinvariants
and is easy and transparent to implement with excellent numerical properties. This

  

Source: Antsaklis, Panos - Department of Electrical Engineering, University of Notre Dame

 

Collections: Engineering