Trajectory Tracking Control of a Timed Event Graph with Specifications Defined by a P-time Event Graph: On-line control and Off-line preparation.

The topic of this paper is the on-line trajectory tracking control on a sliding horizon of Timed Event Graphs with specifications defined by a P-time Event Graph. Making the most of the specific structures of the systems, the CPU time of the on-line procedure is drastically reduced with two techniques: The use of specific algorithms of the graph theory instead of generic algorithms; an off-line preparation which avoid the useless repetition of the same calculations. As a consequence, the approach can deal with long horizons and important systems and the application field of the trajectory tracking control is expanded.