Deadlock-free scheduling for manufacturing systems based on timed Petri nets and model predictive control

This paper proposes algorithms that incrementally compute control sequences with near-minimal duration to drive the marking of timed Petri nets from an initial value to a reference one. These algorithms are based on a partial exploration of the net reachability graph with an approach inspired from model predictive control. They include perturbation rejection and forbidden marking avoidance and are suitable to track trajectories when the initial and reference markings are far from each other.