Interobject spacing control and controllability of a manufacturing transportation system

Martin Kruciński, Carlo Cloet, Roberto Horowitz, Masayoshi Tomizuka, Perry Y Li

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations


This paper 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.

Original languageEnglish (US)
Title of host publicationProceedings of the 1998 American Control Conference, ACC 1998
Number of pages7
StatePublished - Dec 1 1998
Event1998 American Control Conference, ACC 1998 - Philadelphia, PA, United States
Duration: Jun 24 1998Jun 26 1998

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other1998 American Control Conference, ACC 1998
Country/TerritoryUnited States
CityPhiladelphia, PA


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