Petri nets have been widely used for the modelling, analysis, control and optimization of discrete event systems with shared resources in the domains of engineering. This article concerns the design of control sequences for such systems modelled with untimed Petri nets. The aim of the controller is to incrementally compute sequences of transition firings with minimal size. Such sequences aim to move the marking from an initial value to a reference value. The resulting trajectory must avoid some forbidden markings and limit as possible the exploration of non-promising branches. For this purpose, the approach explores a small part of the reachability graph in the neighbourhood of the current marking. Then from the explored markings, it estimates a distance to the reference. The main contributions are (a) to reduce the explored part of the reachability graph according to a double limitation in breadth and in depth in order to provide solutions with a low computational effort; (b) to provide conditions to ensure the converge and optimality of the proposed algorithms and derive necessary and sufficient conditions for reachability; and (c) to include the firing sequence design in a global control schema suitable for reactive scheduling problems in uncertain and perturbed environments. The main application concerns deadlock-free scheduling problems in the domain of flexible manufacturing systems, but the approach is also applicable for systems in computer science and transportation.
Partial Reachability Graph Analysis of Petri Nets for Flexible Manufacturing Systems
