Supervisory control of assembly Petri net

In the field of robotics, many researchers have studied the representation and analysis of an automatic assembly system. In previous research, however, no control-theoretic ideas for the assembly system have been found. In this paper, the authors study a closed-loop desired marking control problem for the automatic assembly system using the supervisory control technique. First, the authors represent the assembly system with a Petri net. Since the assembly Petri net has a “tree structure”, the authors show that the assembly Petri net has some formal linguistic properties. Based on the properties, the authors clarify that the solvability of the desired marking control problem depends only on the controllability of a control object, and that one can construct the supervisor for the assembly Petri net with a finite automata. Finally, the authors discuss the supervisor reduction technique and give two examples