Redundancy Based Controller Reconfiguration for Fault Recovery of Manufacturing Systems

This work deals with fault recovery of discrete manufacturing systems modeled by Petri nets (PN). A technique for fault recovery that exploits the redundancies included in the PN model is proposed. This work presents two main contributions; the first one is a structural method for finding out the redundancies in the PN system model. Based on these redundancies, the second contribution is an algebraic technique used to reconfigure partially the controller when permanent faults occur in system components. This approach avoids the computation of a new controller every time a fault is detected.