Hybrid control of a manufacturing transport system

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceeding


This paper describes the design of a least restrictive, safe hybrid control scheme for a manufacturing transport system transporting fragile objects from a production unit to a stamping/packaging station. The control scheme consists of several control modes. One control mode handles trajectory following using time-optimal control, the other control modes are safety related and are engaged in a least restrictive manner. The control design procedure involves defining safe and unsafe sets of states, which are used for deciding whether a safety-related control mode should be activated. The devised control scheme is proven to be safe under stated conditions, and is shown to perform well in simulations.


External organisations
  • University of California, Berkeley
Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Energy Engineering
Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)0191-2216
ISBN (Print)0-7803-4187-2
Publication statusPublished - 1997
Publication categoryResearch
Externally publishedYes
Event36th IEEE Conference on Decision and Control, 1997 - San Diego, CA, San Diego, California, United States
Duration: 1997 Dec 121997 Dec 12
Conference number: 36


Conference36th IEEE Conference on Decision and Control, 1997
CountryUnited States
CitySan Diego, California