Feasible Schedule Under Faults in The Assembly System

摘要

This paper addresses an application of a fault-tolerant control to a cubes ‘packing system. The core issue concerns a control of a set of parallel manipulators which transport cubes from various points to a final storage. The main contribution of this paper is an analytical description of a set of manipulators by means of the max-plus algebra equations. The task of these manipulators is a handling of transport of cubes in accordance with a reference schedule. The proposed mathematical approach has to take into consideration both synchronization and choice issues as well as faults. In addition, diagnostics and fault-tolerant control strategy are developed and applied to the system of cubes' packing being considered. All constraints are defined and incorporated into this control strategy. The proposed approach is able to compensate or eliminate the influence of some faults, e.g., delays occurring in the manipulators or reduced velocities of transportation means. Finally, an example exhibiting effectiveness of the proposed control scheme is presented.