Abstract

The Supervisory Control Theory (SCT) of Discrete Event Systems (DES) provides systematic approaches for designing control command sequences for plants that can be modeled as DES. The design is done "offline" (before supervisor becomes operational) and is based on the plant and design specification DES models. These models are typically large, resulting in DES supervisors that require large computer memory - often unavailable in embedded mobile systems such as space vehicles. An alternative is to use the Limited Lookahead Policies (LLP) in which only models of individual plant components and specifications are stored (which take far less memory). The supervisory control command sequences are then calculated "online" during plant operation. In this way, "online" memory requirement can be reduced at the expense of higher "online" computational operations.
In this thesis, the implementation issues of LLP supervisors are studied. The design of LLP supervisors is based on assumptions some of which may not hold in practice. Notably it is assumed that after every event, the supervisory control command can be calculated and applied before the next event occurs. This assumption usually does not hold. To address this issue, a novel technique is proposed in which supervisory control commands are calculated in advance (and online) for a predefined window of events in the future and buffered. When the window starts, the commands would be ready after each event. This eliminates the delay due to online calculations and reduces the delay in responding to new events to levels close to those of standard supervisors (designed "offline").
In an effort to assess the proposed methodology and better understand the implementation issues of SCT, a two degree-of-freedom solar tracker with two servo motors is selected as the plant. Previously, a standard supervisor had been designed for this solar tracker to guide the tracker and perform a sweep to find a sufficiently bright direction to charge the battery and other parts of the system (from its Photo Voltaic cell).
The design of the standard supervisor and its software implementation is improved and polished in this thesis. Next the LLP with buffering is implemented. Several experimental results confirm that the plant under the supervision of LLP supervisor with buffering can match the behavior of the plant under the supervision of standard supervisor.