Localisation-based distributed control of timed discrete-event systems with communication delay

Abstract

We study localisation-based distributed control of timed multi-component discrete-event systems with communication delay in the Brandin–Wonham framework. First, we propose channel models for inter-component event communication with bounded and unbounded delays; the channel models are treated as plant components. In this formulation, there exist multiple distinct observable event sets; thus we employ timed relative coobservability to synthesise partial-observation decentralised supervisors. Then, we localise these supervisors into local controllers and preemptors, which provably tolerate the specified bounded and unbounded communication delays. Finally, the derived local controllers and preemptors are allocated to each plant component, thereby building a purely distributed control architecture of TDES with communication delay. The above results are illustrated by a timed workcell example.