Supervisory Control under Partial Observation continued Centralized architecture

Supervisory Control under Partial Observation (continued)

Centralized architecture under partial observation Observation Channel 2

Main result

Example 0 0 1 2 4 5 6 7 1 2 4 5 3 0 8 3 0 1 2 4 5 6 7 3

Observability not closed under union

Problem with observability

Relative observability

Relative observability

Relative observability

Properties of relative observability

Partial-observation supervisory control: optimality

Partial-observation supervisor by Matlab. TCT supconrobs('SUPO', 'PLANT', 'SPEC', [10, 20]);

Resource allocation

Resource allocation 21 2 11 0 22 1 12

Resource allocation 21 11

Resource allocation 11 21 11

Resource allocation

Guideway 1 2 3 4 Sta. A Red train Green train Sta. B 0 0 11 21 1 1 13 23 2 2 10 20 3 3 15 25 4 4 12 22 5 5

Guideway 1 Sta. A 2 3 4 Sta. B

Guideway 1 2 3 4 Sta. A Sta. B 21 11 23 13 25 15

Guideway 1 2 3 4 Sta. A Red train Green train Sta. B 0 0 11 21 1 1 13 23 2 2 10 20 3 3 15 25 4 4 12 22 5 5

Guideway 1 2 3 4 Sta. A Sta. B 21 10 20 11 23 23 13 25 20 20 10 10 13 15

Guideway 1 2 3 4 Sta. A Red train Green train Sta. B 0 0 11 21 1 1 13 23 2 2 10 20 3 3 15 25 4 4 12 22 5 5

Guideway 1 2 3 4 Sta. A Sta. B 21 21 23 23 25 13 15 13 23 11 11 13

Guideway 1 2 3 4 Sta. A Red train Green train Sta. B 0 0 11 21 1 1 13 23 2 2 10 20 3 3 15 25 4 4 12 22 5 5

Guideway 1 2 3 4 Sta. A Sta. B 21 21 11 21 21 13 10 15 23 20 25 13 10 15 11 11 11

Guideway 1 2 3 4 Sta. A Red train Green train Sta. B 0 0 11 21 1 1 13 23 2 2 10 20 3 3 15 25 4 4 12 22 5 5

Guideway 1 Sta. A 2 3 4 Sta. B

Summary of the course 1. DES modeling: automata and languages 2. Supervisory control theory: centralized 3. Decentralized control and coordination 4. Distributed control by supervisor localization 5. Supervisory control under partial observation