Application area: Robotics

Researcher in charge: Aida Rashidinejad

Supervisors: Prof. dr. ir. Maurice Heemels and Dr.ir. Michel Reniers

Host: Eindhoven University of Technology, The Netherlands

Secondments: KTH, Sweden and Siemens, Germany

This project aims to develop synthesis-based supervisory control theory for cyber-physical systems or hybrid systems with asynchronously interacting plant and supervisor. In conventional supervisory control theory, interactions between the plant and its supervisor are assumed to be immediate. Hence, for a networked control system where communication faults are unavoidable, the common technique should be developed in terms of assuming communication delays and losses in the system modelling, defining new observability and controllability conditions, and synthesizing a supervisor which is observation feasible, control feasible, and satisfies specifications. In this regard, maximally permissiveness is one of the main specifications of a supervisor which is significant to take notice and would be particularly challenging in the presence of delayed and lost communication.

Expected contributions:

A theory for synthesis of supervisory controllers for discrete event networked control systems will be developed such that: 1. communication delays are considered in both observation and control, 2. new observability and controllability conditions are investigated, 3. a supervisor is achieved such that it is control feasible, observation feasible, adequate, and safe, 4. considering robotic applications, the applicability of the proposed approach will be illustrated using the Compositional Interchange Format for Hybrid Systems (CIF) toolset. CIF will support the entire development process of controllers, including specification, supervisory control synthesis, simulation, verification, testing, and code generation.

Furthermore, as an entirely novel idea, supervisory control synthesis will be done directly for a hybrid system without any time abstraction. The achieved supervisor may be then converted to a discrete-event control system using time abstraction. One of the benefits provided by this new approach compared with the common one where the hybrid plant is first abstracted into a discrete-event plant, is dealing with time delays in a more sensible way when they present in the system.

The research topic of this ESR is tightly connected to the research lines RL5 and RL4. We aim for synthesizing a supervisor which deals with challenges due to the coordination among components of CPS i.e. asynchronous interactions between the physical components and the supervisor (cyber component). Furthermore, the achieved supervisor will be both adequate and safe.