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 publicationProceedings of the SICE Annual Conference
Pages2190-2193
Number of pages4
Publication statusPublished - 2011
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo
Duration: 2011 Sep 132011 Sep 18

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CityTokyo
Period11/9/1311/9/18

Fingerprint

Pendulums
Robots
Controllers
Control systems
Motion control
Real time systems
MATLAB
Systems analysis
Hardware
Modeling languages

Keywords

  • Inverted pendulum
  • robot
  • Simulink
  • SysML

ASJC Scopus subject areas

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

Cite this

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

An approach to SysML and simulink based motion controller design for inverted pendulum robots. / Phaoharuhansa, Danai; Shimada, Akira.

Proceedings of the SICE Annual Conference. 2011. p. 2190-2193 6060336.

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

Phaoharuhansa, D & Shimada, A 2011, An approach to SysML and simulink based motion controller design for inverted pendulum robots. in Proceedings of the SICE Annual Conference., 6060336, pp. 2190-2193, 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011, Tokyo, 11/9/13.
Phaoharuhansa D, Shimada A. An approach to SysML and simulink based motion controller design for inverted pendulum robots. In Proceedings of the SICE Annual Conference. 2011. p. 2190-2193. 6060336
Phaoharuhansa, Danai ; Shimada, Akira. / An approach to SysML and simulink based motion controller design for inverted pendulum robots. Proceedings of the SICE Annual Conference. 2011. pp. 2190-2193
@inproceedings{b3ba84a78bb6421ebf1d12c2694b78cf,
title = "An approach to SysML and simulink based motion controller design for inverted pendulum robots",
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.",
keywords = "Inverted pendulum, robot, Simulink, SysML",
author = "Danai Phaoharuhansa and Akira Shimada",
year = "2011",
language = "English",
isbn = "9784907764395",
pages = "2190--2193",
booktitle = "Proceedings of the SICE Annual Conference",

}

TY - GEN

T1 - An approach to SysML and simulink based motion controller design for inverted pendulum robots

AU - Phaoharuhansa, Danai

AU - Shimada, Akira

PY - 2011

Y1 - 2011

N2 - 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.

AB - 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.

KW - Inverted pendulum

KW - robot

KW - Simulink

KW - SysML

UR - http://www.scopus.com/inward/record.url?scp=81255209973&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=81255209973&partnerID=8YFLogxK

M3 - Conference contribution

SN - 9784907764395

SP - 2190

EP - 2193

BT - Proceedings of the SICE Annual Conference

ER -