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We study supervisor localization for timed discrete-event systems underpartial observation and communication delay in the Brandin-Wonham framework.First, we employ timed relative observability to synthesize apartial-observation monolithic supervisor; the control actions of thissupervisor include not only disabling action of prohibitible events (as that ofcontrollable events in the untimed case) but also "clock-preempting" action offorcible events. Accordingly we decompose the supervisor into a set ofpartial-observation local controllers one for each prohibitible event, as wellas a set of partial-observation local preemptors one for each forcible event.We prove that these local controllers and preemptors collectively achieve thesame controlled behavior as the partial-observation monolithic supervisor does.Moreover, we propose channel models for inter-agent event communication andimpose bounded and unbounded delay as temporal specifications. In thisformulation, there exist multiple distinct observable event sets; thus weemploy timed relative coobservability to synthesize partial-observationdecentralized supervisors, and then localize these supervisors into localcontrollers and preemptors. The above results are illustrated by a timedworkcell example.

Supervisor Localization of Timed Discrete-Event Systems under Partial Observation and Communication Delay