The deadlock control of flexible manufacturing systems (FMSs) has been widely studied in the literature. Petri nets (PNs) are extensively used as a tool for modelling, analysis and controller synthesis of such systems. In general, Petri-net-based liveness enforcing supervisors (LESs) include control places ( CPs) together with their input/output arcs. It is well known that the methods proposed for computing CPs may provide redundant and necessary CPs. In this paper, a new method is proposed for redundancy test of CPs by means of supervisory control theory (SCT). The proposed method is based on the idea that after the removal of a CP from an LES, if the controlled model is still live, then the removed CP is redundant. The proposed method makes use of the TCT implementation tool of SCT. It is applicable to a PN-based LES consisting of a set of CPs. The applicability of proposed method is demonstrated by means of examples from the relevant literature. For some examples, the redundancy test provides more permissive behaviour with structurally simpler supervisors.
Petri Net Robotic Task Plan Representation: Modelling, Analysis and Execution
