Towards control development for flexibly automated systems in high-level programming environments

The paper presents an approach to control development for FMSs with mobile-robot transport systems. The proposed architecture of the system comprises two loosely coupled DFSA based controllers that can cooperate with both real and simulated plants. The formal representation of the control concept ensures its correctness, while the modular architecture of the system allows development and testing of different control policies for both supervisory control and motion control of the mobile robots. The proposed approach is illustrated by its example implementation in the Matlab/Simulink/Stateflow programming environment.