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Nonlinear dynamics in distributed arrival time control of heterarchical manufacturing systems

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2 Author(s)
Prabhu, V.V. ; Dept. of Ind. & Manuf. Eng., Pennsylvania State Univ., University Park, PA, USA ; Duffie, N.A.

Heterarchical control architectures with fully distributed control have been developed in order to improve responsiveness and effectiveness of manufacturing shop-floor control systems. The dynamics of these highly distributed systems have been difficult to predict particularly when control is based on heuristics. In this paper a dynamical model is developed for a single machine processing an arbitrary number of parts. The structure of the system, which requires queuing of parts when they arrive at a machine, leads to nonlinearities such as dead-zone and discontinuities. A continuous arrival time controller of the integrating type is used that results in a system that can be modeled using nonlinear differential equations that can be solved using a method due to Filippov (1960, 1988). This enables prediction of trajectories of part arrival times and derivation of closed form expressions for steady-state values. The analytical model for the dynamics is validated and the dynamic response of the system is illustrated using numerical simulation

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Control Systems Technology, IEEE Transactions on  (Volume:7 ,  Issue: 6 )