DocumentCode
397854
Title
A controller-observer scheme for a robotic cell
Author
Campos, R. ; Lopez, E. ; Ramirez, A. ; Mireles, J. ; Lewis, F.
Author_Institution
CINVESTAV-IPN, Mexico City, Mexico
Volume
3
fYear
2003
fDate
5-8 Oct. 2003
Firstpage
2779
Abstract
This paper presents a controller-observer scheme for Discrete Event Systems (DES) and its implementation into a robotic cell. In this approach the observer provides the current state of a system having some internal states that are not measurable from the outputs. The controller confines the system behavior into a specified behavior. This scheme is complemented with a decision-making module that determines the best transition to fire. All the entities of this scheme and the system are modeled using interpreted Petri nets (IPN).
Keywords
Petri nets; control system synthesis; controllability; decision making; discrete event systems; observability; observers; robots; scheduling; DES; IPN; controller-observer scheme; decision making module; discrete event systems; interpreted Petri nets; robotic cell; system behavior; Automatic control; Circuits; Control systems; Decision making; Discrete event systems; Intelligent robots; Observers; Petri nets; Robotics and automation; State estimation;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 2003. IEEE International Conference on
ISSN
1062-922X
Print_ISBN
0-7803-7952-7
Type
conf
DOI
10.1109/ICSMC.2003.1244306
Filename
1244306
Link To Document