Simulation Based Control Architecture Using Webots and Simulink

TL;DR

The paper addresses the challenge of efficiently developing and validating robotic control systems without heavy hardware-in-the-loop by integrating Webots simulations with MATLAB/Simulink. It compares two binding approaches and adopts a direct Simulink-Webots integration using custom S-Functions or MATLAB API to achieve synchronous, real-time data exchange. A case study on an inverted pendulum on a cart demonstrates the framework, deriving a linearized state-space model and implementing a PID controller to maintain upright balance. Results show robust performance under disturbances and highlight benefits such as rapid prototyping, modularity, and reduced hardware requirements, with limitations including communication latency and synchronization challenges.

Abstract

This paper presents a simulation based control architecture that integrates Webots and Simulink for the development and testing of robotic systems. Using Webots for 3D physics based simulation and Simulink for control system design, real time testing and controller validation are achieved efficiently. The proposed approach aims to reduce hardware in the loop dependency in early development stages, offering a cost effective and modular control framework for academic, industrial, and robotics applications.

Figures (8)

• Figure 1: Webots Simulation
• Figure 2: Inverted Pendulum
• Figure 3: Simulink Control Diagram
• Figure 4: Webots Control Diagram
• Figure 5: Control Architecture Diagram