Abstract
The optimal controller synthesis problem for discrete event control of a flexible manufacturing system (FMS) is presented in this paper. To explicitly formulate concurrent activities, multiple resources sharing, precedence constraints and dynamic routing in FMS operation, we adopt timed (place) Petri nets for problem representation. The A(*) based heuristic search algorithm is proposed to search for an optimal event sequence to achieve minimum-time and deadlock-free discrete event control. Based on the obtained event-driven sequence, we use two levels of specification to design the optimal sequence controller. The coordination control level consists of synchronization and parallelism of different sub-systems and is specified by decision-free Petri nets (marked graphs). The local control level consists of running elementary sequences for sub-systems and is specified by sequential function charts.