Modelling and Analysis of Nonlinear Dynamics in Autonomous Heterarchical Manufacturing Systems Control

Heterarchical architectures characterized by fully distributed control and cooperation among loosely-coupled autonomous entities have been proposed for controlling automated manufacturing systems. A non-linear, control-theoretic analytical model is developed in this paper to represent the dynamical behavior of closed-loop distributed controllers in autonomous part-driven heterarchical systems. The model and the control law introduced for adjusting arrival times of parts to be processed allows the dynamics of these highly distributed, highly non-linear control systems to be analyzed. Analytical and numerical results are used to validated the model and illustrate robustness to uncertainties such as new part arrivals and machine failures of the fully distributed, heterarchical system control.