A Practical Specialization of MDA/MBSE Approach to Develop AUV Controllers
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RESEARCH ARTICLE
A Practical Specialization of MDA/MBSE Approach to Develop AUV Controllers Ngo Van Hien 1 & Pham Gia Diem 1 Received: 15 May 2019 / Accepted: 14 July 2020 # Harbin Engineering University and Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract The model-driven architecture (MDA)/model-based systems engineering (MBSE) approach, in combination with the real-time Unified Modeling Language (UML)/Systems Modeling Language (SysML), unscented Kalman filter (UKF) algorithm, and hybrid automata, are specialized to conveniently analyze, design, and implement controllers of autonomous underwater vehicles (AUVs). The dynamics and control structure of AUVs are adapted and integrated with the specialized features of the MDA/ MBSE approach as follows. The computation-independent model is defined by the specification of a use case model together with the UKF algorithm and hybrid automata and is used in intensive requirement analysis. The platform-independent model (PIM) is then built by specializing the real-time UML/SysML’s features, such as the main control capsules and their dynamic evolutions, which reflect the structures and behaviors of controllers. The detailed PIM is subsequently converted into the platform-specific model by using open-source platforms to quickly implement and deploy AUV controllers. The study ends with a trial trip and deployment results for a planar trajectory-tracking controller of a miniature AUV with a torpedo shape. Keywords Autonomous underwater vehicles (AUVs) . AUV control . Model-based mechatronic system design . Unscented Kalman filter (UKF) . Hybrid automata . Real-time UML/SysML . MDA/MBSE
1 Introduction Autonomous underwater vehicles (AUVs) have been widely developed and used for the study of oceans to enhance the cost-effectiveness of civil society and improve existing naval facilities, e.g., the biological discovery of ocean resources, disaster and tsunami warnings, and self-operated underwater military means Article Highlights • A specialization of MDA/MBSE approach combined with the UKF algorithm and hybrid automata is performed to systematically analyze, design and implement an AUV controller. • The designed capsule collaboration of real-time UML/SysML can be customized and reused for new control applications of various AUV types. • A planar trajectory-tracking controller of a miniature torpedo-shaped AUV was deployed and tested. * Ngo Van Hien [email protected] 1
Department of Ship Engineering and Fluid Mechanics, School of Transportation Engineering, Hanoi University of Science and Technology, Hanoi 10000, Vietnam
(Allotta et al. 2016b; Brignone et al. 2015; Cui 2019; Ribas et al. 2015; Shojaei and Dolatshahi 2017; Wynn et al. 2014). In the present design and construction of AUV controllers, traditional guidance, navigation, and control methods are combined with soft computing techniques to closely deal with the control of AUV dynamics (Allotta et al. 2016a; Bhopale et al. 2019; Eslami et al. 2018; MahmoudZadeh et al. 2018). For example, Shari
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