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Register a new userSupervisor Localization for Large-Scale Discrete-Event Systems under Partial Observation
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Added by
Renyuan Zhang
Publication date
2017
fields
Informatics Engineering
and research's language is
English
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Recently we developed partial-observation supervisor localization, a top-down approach to distributed control of discrete-event systems (DES) under partial observation. Its essence is the decomposition of the partial-observation monolithic supervisor into partial-observation local controllers for individual controllable events. In this paper we extend the partial-observation supervisor localization to large-scale DES, for which the monolithic supervisor may be incomputable. Specifically, we first employ an efficient heterarchical supervisor synthesis procedure to compute a heterarchical array of partial-observation decentralized supervisors and partial-observation coordinators. Then we localize each of these supervisors/coordinators into partial-observation local controllers. This procedure suggests a systematic approach to the distributed control of large-scale DES under partial observation. The results are illustrated by a system of automatic guided vehicles (AGV) serving a manufacturing workcell.
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Recently we developed supervisor localization, a top-down approach to distributed control of discrete-event systems. Its essence is the allocation of monolithic (global) control action among the local control strategies of individual agents. In this paper, we extend supervisor localization by considering partial observation; namely not all events are observable. Specifically, we employ the recently proposed concept of relative observability to compute a partial-observation monolithic supervisor, and then design a suitable localization procedure to decompose the supervisor into a set of local controllers. In the resulting local controllers, only observable events can cause state change. Further, to deal with large-scale systems, we combine the partial-observation supervisor localization with an efficient architectural synthesis approach: first compute a heterarchical array of partial-observation decentralized supervisors and coordinators, and then localize each of these supervisors/coordinators into local controllers.
We study supervisor localization for timed discrete-event systems under partial observation and communication delay in the Brandin-Wonham framework. First, we employ timed relative observability to synthesize a partial-observation monolithic supervisor; the control actions of this supervisor include not only disabling action of prohibitible events (as that of controllable events in the untimed case) but also clock-preempting action of forcible events. Accordingly we decompose the supervisor into a set of partial-observation local controllers one for each prohibitible event, as well as a set of partial-observation local preemptors one for each forcible event. We prove that these local controllers and preemptors collectively achieve the same controlled behavior as the partial-observation monolithic supervisor does. Moreover, we propose channel models for inter-agent event communication and impose bounded and unbounded delay as temporal specifications. In this formulation, there exist multiple distinct observable event sets; thus we employ timed relative coobservability to synthesize partial-observation decentralized supervisors, and then localize these supervisors into local controllers and preemptors. The above results are illustrated by a timed workcell example.
Recently we developed supervisor localization, a top-down approach to distributed control of discrete-event systems (DES) with finite behavior. Its essence is the allocation of monolithic (global) control action among the local control strategies of individual agents. In this report, we extend supervisor localization to study the distributed control of DES with infinite behavior. Specifically, we first employ Thistle and Wonhams supervisory control theory for DES with infinite behavior to compute a safety supervisor (for safety specifications) and a liveness supervisor (for liveness specifications), and then design a suitable localization procedure to decompose the safety supervisor into a set of safety local controllers, one for each controllable event, and decompose the liveness supervisor into a set of liveness local controllers, two for each controllable event. The localization procedure for decomposing the liveness supervisor is novel; in particular, a local controller is responsible for disabling the corresponding controllable event on only part of the states of the liveness supervisor, and consequently, the derived local controller in general has states number no more than that computed by considering the disablement on all the states. Moreover, we prove that the derived local controllers achieve the same controlled behavior with the safety and liveness supervisors. We finally illustrate the result by a Small Factory example.
The supervisory control of probabilistic discrete event systems (PDESs) is investigated under the assumptions that the supervisory controller (supervisor) is probabilistic and has a partial observation. The probabilistic P-supervisor is defined, which specifies a probability distribution on the control patterns for each observation. The notions of the probabilistic controllability and observability are proposed and demonstrated to be a necessary and sufficient conditions for the existence of the probabilistic P-supervisors. Moreover, the polynomial verification algorithms for the probabilistic controllability and observability are put forward. In addition, the infimal probabilistic controllable and observable superlanguage is introduced and computed as the solution of the optimal control problem of PDESs. Several examples are presented to illustrate the results obtained.
Recently we developed supervisor localization, a top-down approach to distributed control of discrete-event systems in the Ramadge-Wonham supervisory control framework. Its essence is the decomposition of monolithic (global) control action into local control strategies for the individual agents. In this paper, we establish a counterpart supervisor localization theory in the framework of State Tree Structures, known to be efficient for control design of very large systems. In the new framework, we introduce the new concepts of local state tracker, local control function, and state-based local-global control equivalence. As before, we prove that the collective localized control behavior is identical to the monolithic optimal (i.e. maximally permissive) and nonblocking controlled behavior. In addition, we propose a new and more efficient localization algorithm which exploits BDD computation. Finally we demonstrate our localization approach on a model for a complex semiconductor manufacturing system.
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