In this paper, we formulate the multi-facility dispatching problems as a discrete event modular feedback control problem which is based on a thorough mathematical structure. A simulation experiment shows that our proposed real-time state feedback control scheme improves the multi-facility manufacturing system performance in terms a measure of order lateness.

The main objective of this paper is to study the control problems for a multi-robot team moving in hierarchical formation. We formulate the problem as a chart by the four-tier hybrid architecture. We devise rules to form a realizable hierarchical formation. Four control laws are derived to achieve the formation patterns. The proposed control laws are suitable for the on-line, real-time formation tasks. Simulation result shows the efficacy of the approaches.