Deadlock-free Supervisor Design for Robotic Manufacturing Cells with Uncontrollable and Unobservable Events

Bo Huang, Mengchu Zhou, Cong Wang, Abdullah Abusorrah, Yusuf Al-Turki

Research output: Contribution to journalArticlepeer-review

31 Scopus citations


In this paper, a deadlock prevention policy for robotic manufacturing cells with uncontrollable and unobservable events is proposed based on a Petri net formalism. First, a Petri net for the deadlock control of such systems is defined. Its admissible markings and first-met inadmissible markings (FIMs) are introduced. Next, place invariants are designed via an integer linear program (ILP) to survive all admissible markings and prohibit all FIMs, keeping the underlying system from reaching deadlocks, livelocks, bad markings, and the markings that may evolve into them by firing uncontrollable transitions. ILP also ensures that the obtained deadlock-free supervisor does not observe any unobservable transition. In addition, the supervisor is guaranteed to be admissible and structurally minimal in terms of both control places and added arcs. The condition under which the supervisor is maximally permissive in behavior is given. Finally, experimental results with the proposed method and existing ones are given to show its effectiveness.

Original languageEnglish (US)
Article number9106876
Pages (from-to)597-605
Number of pages9
JournalIEEE/CAA Journal of Automatica Sinica
Issue number3
StatePublished - Mar 2021

All Science Journal Classification (ASJC) codes

  • Control and Optimization
  • Artificial Intelligence
  • Information Systems
  • Control and Systems Engineering


  • Deadlock prevention
  • Petri nets
  • robotic manufacturing cells
  • structure-minimized supervisor
  • supervisory control
  • uncontrollability
  • unobservability


Dive into the research topics of 'Deadlock-free Supervisor Design for Robotic Manufacturing Cells with Uncontrollable and Unobservable Events'. Together they form a unique fingerprint.

Cite this