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References

This page provides academic references, documentation links, and resources used in the development of this project.

Official Documentation

Webots

Resource Description Link
Webots User Guide Official documentation cyberbotics.com/doc/guide
Webots Reference Manual API documentation cyberbotics.com/doc/reference
MATLAB Controller Guide MATLAB integration Webots MATLAB
Webots GitHub Source code github.com/cyberbotics/webots
Resource Description Link
Simulink Documentation Official docs mathworks.com/help/simulink
Control System Toolbox Control design tools mathworks.com/help/control
Stateflow State machine modeling mathworks.com/help/stateflow
Simscape Physical modeling mathworks.com/help/simscape

Control Systems Theory

Textbooks

  1. Modern Control Engineering
  2. Author: Katsuhiko Ogata
  3. Publisher: Pearson
  4. ISBN: 978-0136156734

  5. Classic textbook covering PID control, state-space methods, and stability analysis

  6. Feedback Control of Dynamic Systems

  7. Authors: Gene F. Franklin, J. David Powell, Abbas Emami-Naeini
  8. Publisher: Pearson
  9. ISBN: 978-0133496598

  10. Comprehensive coverage of feedback control theory

  11. Linear System Theory and Design

  12. Author: Chi-Tsong Chen
  13. Publisher: Oxford University Press
  14. ISBN: 978-0199959570

  15. State-space methods and linear systems

  16. Nonlinear Systems

  17. Author: Hassan K. Khalil
  18. Publisher: Pearson
  19. ISBN: 978-0130673893
  20. Advanced nonlinear control theory

Online Resources

  • Control Tutorials for MATLAB and Simulink (CTMS)
  • University of Michigan
  • ctms.engin.umich.edu

  • Excellent tutorials on inverted pendulum, DC motor control, aircraft pitch control

  • MIT OpenCourseWare - Feedback Control Systems

  • Course 16.30
  • ocw.mit.edu

Robot Platforms

Crazyflie Drone

Resource Link
Official Website bitcraze.io
Documentation wiki.bitcraze.io
Control Paper Crazyflie 2.0 Quadrotor Control

Related Academic Papers:

  • Giernacki, W., Skwierczyński, M., Witwicki, W., Wroński, P., & Kozierski, P. (2017). Crazyflie 2.0 quadrotor as a platform for research and education in robotics and control engineering. 22nd International Conference on Methods and Models in Automation and Robotics (MMAR).

BlueBoat USV

Resource Link
Blue Robotics bluerobotics.com
BlueBoat Product Page BlueBoat
Technical Specifications BlueBoat Specs

TurtleBot3

Resource Link
ROBOTIS e-Manual emanual.robotis.com/docs/en/platform/turtlebot3
ROS Wiki wiki.ros.org/turtlebot3
GitHub github.com/ROBOTIS-GIT/turtlebot3

Scout V2.0

Resource Link
AgileX Robotics agilex.ai
Scout 2.0 Manual AgileX Scout

Inverted Pendulum Systems

Classic Papers

  1. Åström, K. J., & Furuta, K. (2000)
  2. Swinging up a pendulum by energy control
  3. Automatica, 36(2), 287-295

  4. DOI: 10.1016/S0005-1098(99)00140-5

  5. Graichen, K., Treuer, M., & Zeitz, M. (2007)

  6. Swing-up of the double pendulum on a cart by feedforward and feedback control
  7. Automatica, 43(2), 244-252

Online Tutorials

  • Inverted Pendulum: System Modeling
  • CTMS, University of Michigan

  • Link

  • Rotary Inverted Pendulum

  • ST Microelectronics Educational Curriculum
  • PDF Document

Marine Robotics

USV Navigation and Control

  1. Fossen, T. I. (2011)
  2. Handbook of Marine Craft Hydrodynamics and Motion Control
  3. Wiley
  4. ISBN: 978-1119991496

  5. Comprehensive reference for marine vehicle dynamics

  6. Liu, Z., Zhang, Y., Yu, X., & Yuan, C. (2016)

  7. Unmanned surface vehicles: An overview of developments and challenges
  8. Annual Reviews in Control, 41, 71-93

Hydrodynamics

  • Newman, J. N. (2018)
  • Marine Hydrodynamics
  • MIT Press
  • ISBN: 978-0262534826

Quadrotor Dynamics

Academic References

  1. Bouabdallah, S., Murrieri, P., & Siegwart, R. (2004)
  2. Design and control of an indoor micro quadrotor

  3. IEEE International Conference on Robotics and Automation (ICRA)

  4. Mahony, R., Kumar, V., & Corke, P. (2012)

  5. Multirotor aerial vehicles: Modeling, estimation, and control of quadrotor

  6. IEEE Robotics & Automation Magazine, 19(3), 20-32

  7. Pounds, P., Mahony, R., & Corke, P. (2010)

  8. Modelling and control of a large quadrotor robot
  9. Control Engineering Practice, 18(7), 691-699

Agricultural Robotics

Autonomous Tractors

  1. Blackmore, S., Stout, B., Wang, M., & Runov, B. (2005)
  2. Robotic agriculture – the future of agricultural mechanisation

  3. 5th European Conference on Precision Agriculture

  4. Bechar, A., & Vigneault, C. (2016)

  5. Agricultural robots for field operations: Concepts and components
  6. Biosystems Engineering, 149, 94-111

Ackermann Steering

  • Ackermann Steering Geometry
  • Wikipedia Article
  • Mathematical derivation and applications

Simulation & Modeling

Robot Simulation

  1. Michel, O. (2004)
  2. Cyberbotics Ltd. Webots: Professional mobile robot simulation

  3. International Journal of Advanced Robotic Systems, 1(1), 39-42

  4. Koenig, N., & Howard, A. (2004)

  5. Design and use paradigms for Gazebo, an open-source multi-robot simulator
  6. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • Corke, P. (2017)
  • Robotics, Vision and Control: Fundamental Algorithms in MATLAB
  • Springer
  • ISBN: 978-3319544120

Software Tools

Development Tools

Tool Purpose Link
Git Version control git-scm.com
MkDocs Documentation mkdocs.org
Material Theme MkDocs theme squidfunk.github.io/mkdocs-material

CAD Tools

Tool Purpose Link
Blender 3D modeling blender.org
SolidWorks CAD design solidworks.com
FreeCAD Open-source CAD freecadweb.org

Citation

If you use this project in academic work, please cite:

@misc{webots-simulink,
  author = {Harun Kurt},
  title = {Webots-Simulink Integration Framework},
  year = {2024},
  publisher = {GitHub},
  url = {https://github.com/harunkurtdev/webots-simulink}
}