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

Danai Phaoharuhansa, Akira Shimada

研究成果: Conference contribution

5 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
出版者Society of Instrument and Control Engineers (SICE)
ページ2190-2193
ページ数4
ISBN(印刷物)9784907764395
出版物ステータスPublished - 2011 1 1
イベント50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
継続期間: 2011 9 132011 9 18

出版物シリーズ

名前Proceedings of the SICE Annual Conference

Conference

Conference50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
Japan
Tokyo
期間11/9/1311/9/18

ASJC Scopus subject areas

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

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  • これを引用

    Phaoharuhansa, D., & Shimada, A. (2011). An approach to SysML and simulink based motion controller design for inverted pendulum robots. : 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).