Hybrid system model of production work-cells and its optimal control subject to logical constraints

In this paper, we present a hybrid formulation for the modelling and control of automated manufacturing systems combining both discrete and continuous dynamics. We derive a hierarchical two-level production control policy based on hybrid automata models and capable of providing closed-loop behaviors which satisfy both logic-based and goal optimization specifications. Our main contribution is the integration of fluid approximations within a hybrid automata model aiming at performance optimization subject to logical constraints. By introducing the notion of macro-states and macro-events, we show that these settings can be achieved through a supervisory controller which specifies a desired macro-event trajectory set, represented by a generated language, upon which the optimization procedure is being performed.