Modular supervisory control with equivalence-based conflict resolution

This paper proposes a set of requirements on coordinating filters that will resolve conflict among modular supervisors. Our specific approach is unique in that it employs a conflict-equivalent abstraction, which offers the potential for greater reduction than those abstractions employed in existing works on conflict resolution. The resulting control implemented by the modular supervisors in conjunction with coordinating filters meeting the proposed requirements is shown to be safe and nonblocking. Approaches for constructing these filters are discussed and it is proposed that a static state-feedback approach to control be employed that implements deterministic coordinating filter control laws by nondeterministic automata.