A general architecture for decentralized supervisory control of Fuzzy Discrete Event Systems

In this paper, a general decentralized supervisory control architecture of Fuzzy Discrete Event Systems (FDES) is established. The proposed architecture is capable of fusing the decisions of each local supervisor using both union and intersection of the enabled degrees of the active fuzzy events. Moreover, the proposed architecture is implemented in both simulation and real-time for behavior coordination of a decentralized multi robot system, employed in a cooperative object manipulation task. A performance evaluation is carried out to compare the performance of the proposed approach against the centralized FDES and decentralized crisp Discrete Event Systems (DES) based supervisory control architectures.