A controller-observer scheme for a robotic cell

This paper presents a controller-observer scheme for Discrete Event Systems (DES) and its implementation into a robotic cell. In this approach the observer provides the current state of a system having some internal states that are not measurable from the outputs. The controller confines the system behavior into a specified behavior. This scheme is complemented with a decision-making module that determines the best transition to fire. All the entities of this scheme and the system are modeled using interpreted Petri nets (IPN).