A matrix-based framework for combined supervisory and operational control of an industrial warehouse

This paper considers a combined supervisory and operational control system for an automated storage and retrieval system. The entire control system is developed and implemented using a matrix-based formalism. In particular, the control system is defined using a set of matrix equations, each addressing a specific control function (e.g., inhibit actions that violate plant innate constraints, address deadlock avoidance, and perform efficient material dispatching). The global system is then obtained by integrating the various equations in a single control module. Simulations of an industrial warehouse show the effectiveness of the proposed design approach.