An approach to SysML and simulink based motion controller design for inverted pendulum robots

Danai Phaoharuhansa, Akira Shimada

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

5 Citations (Scopus)

Abstract

Nowadays, a lot of inverted pendulum robots have been developed. The complexity of the dynamical control systems is increased and they are advanced toward autonomous inverted pendulum robots. When the controllers are designed, the software MATLAB/Simulink is often used. It is well known that it is a very useful tool to design and analyze motion control systems. However, it is not always useful to express huge or multifunctional systems. At that time, System Modeling language (SysML) is known as a useful tool for that system design. Then it seems the usage of the both tools are useful. In order to develop the inverted pendulum robots in practice, we need multi-stand points for the real time systems. We have to study the both of them and investigate how to fill the gap. This paper introduces our requirement, overview of inverted pendulum robot system, hardware configurations, and map the balancing control using observer based control from Simulink model to SysML models. Furthermore, SysML is a guideline to define the interconnection between functions and combine them together.

Original languageEnglish
Title of host publicationSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PublisherSociety of Instrument and Control Engineers (SICE)
Pages2190-2193
Number of pages4
ISBN (Print)9784907764395
Publication statusPublished - 2011 Jan 1
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: 2011 Sep 132011 Sep 18

Publication series

NameProceedings of the SICE Annual Conference

Conference

Conference50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period11/9/1311/9/18

Keywords

  • Inverted pendulum
  • Simulink
  • SysML
  • robot

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Phaoharuhansa, D., & Shimada, A. (2011). An approach to SysML and simulink based motion controller design for inverted pendulum robots. In SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts (pp. 2190-2193). [6060336] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).