Interobject spacing control and controllability of a manufacturing transportation system

Presents a control and controllability approach for a general manufacturing transportation system. The system transports objects from a production unit to a stamping/packaging section. At arrival time, the position and velocity of every object must synchronize with the stamping device. The system constraints and a simplified model of the system dynamics are developed. The hybrid character of the system makes classical control approaches difficult. A control scheme that controls interobject spacings and satisfies the constraints is proposed. A controllability analysis, independent from the control scheme and satisfying all constraints, shows the influence of system parameters on system controllability. Simulations verify the control scheme and controllability analysis.