Modular Supervisory Control with Equivalence-Based Abstraction and Covering-Based Conflict Resolution

Complex systems are often composed of many small communicating components called modules. We investigate the synthesis of supervisory controllers for modular systems under partial observation that, as the closed-loop system, realize the supremal normal sublanguage of the specification. We call such controllers maximally permissive normal supervisors. The challenge in modular systems is to find conditions under which the global nonblocking and maximally permissive normal supervisor can be achieved locally as the parallel composition of local normal supervisors. We show that a structural concept of hierarchical supervisory control called modified observation consistency (MOC) is such a condition. However, the algorithmic verification of MOC is an open problem, and therefore it is necessary to find easily-verifiable conditions that ensure MOC. We show that the condition that all shared events are observable is such a condition. Considering specifications, we examine both local specifications, where each module has its own specification, and global specifications. We combine our results for normality with the existing results for controllability to locally synthesize the nonblocking and maximally permissive controllable and normal supervisor. Finally, we illustrate the results on an industrial case study of the patient table of an MRI scanner.

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“…In a similar way, we could combine our results with the results of De Queiroz and Cury [12], Hill and Tilbury [13], or Gaudin and Marchand [14].…”

Section: Schmidt and Breindlmentioning

confidence: 70%

“…Considering the same framework, a similar approach was discussed by Hill and Tilbury [13], who further employed an abstraction and a structuring into several levels.…”

Section: Systems With Complete Observationmentioning

confidence: 99%

Hierarchical Supervisory Control Under Partial Observation: Normality

Komenda

Masopust

2023

IEEE Trans. Automat. Contr.

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“…In the field of discrete event theory, an increasing body of results also have been generated recently with regard to applying abstraction [18], [19], [20], [21] and imposing additional requirements that allow global goals to be satisfied locally [22], [23], [24]. Such techniques can greatly reduce the size of the controller automata that must be considered.…”

Section: Simulation Resultsmentioning

confidence: 99%

Formal synthesis of supervisory control software for multiple robot systems

Goryca

Hill

2013

2013 American Control Conference

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This paper demonstrates the application of a range of theoretical tools to generate real-time control software for multiple ground robots working together cooperatively. Specifically, existing discrete event system theory is applied to synthesize high-level supervisory control logic that is guaranteed to maintain the behavior of multiple robots within requirements defined by a set of formal specifications. The modeling of the high-level behavior of the robots in their given environment, as well as the formal specifications, is described in detail. The resulting models are represented as finite-state automata. In this work we assume that some events cannot be controlled, though all events are assumed to be observable. In addition to generating control logic that is guaranteed to keep the robots safe, results are also presented for choosing from amongst a set of allowed robot behaviors in order to achieve behavior that is "good" in some sense. Specifically, a modified version of Dijkstra's algorithm is employed to choose a path through the finite-state automaton representing the allowed robot behaviors. This modified algorithm is able to address multiple robots and the fact that some events cannot be controlled (commanded). The resulting high-level robot events are then connected to the continuous, time-driven behavior of the robots through a series of low-level algorithms. The result of this work is demonstrated in simulation for a simple, but demonstrative scenario.

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“…Abstraction is a widely used technique for verification and synthesis of large‐scale systems. In supervisory control of DESs, there are several prior works on abstraction‐based modular nonblocking supervisory control including . In , abstraction‐based verification of diagnosability was studied, and sufficient conditions under which diagnosability can be verified using the abstracted models of the system and the specification were presented.…”

Section: Introductionmentioning

confidence: 99%

Abstraction‐Based Verification and Synthesis for Prognosis of Discrete Event Systems

Yokotani

Kondo

Takai

2015

Asian Journal of Control

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In this paper, we develop a theoretical framework for abstraction-based failure prognosis of partially observed discrete event systems. The purpose of using abstraction is to verify prognosability and synthesize a prognoser based on the abstracted models with fewer states and transitions. We present conditions under which prognosability can be verified and a prognoser can be synthesized based on the abstracted models of the system and the specification.

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Modular Supervisory Control with Equivalence-Based Abstraction and Covering-Based Conflict Resolution

Cited by 12 publications

References 40 publications

Hierarchical Supervisory Control Under Partial Observation: Normality

Hierarchical Supervisory Control Under Partial Observation: Normality

Formal synthesis of supervisory control software for multiple robot systems

Abstraction‐Based Verification and Synthesis for Prognosis of Discrete Event Systems

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