Abstract
This paper introduces a model-driven control realization, which is based on the systems engineering concepts of the model-driven architecture (MDA)/model-based systems engineering (MBSE) approach combined with the real-time UML/SysML, extended/unscented Kalman filter (EKF/UKF) algorithms, and hybrid automata, in order to conveniently deploy controllers of autonomous underwater vehicles (AUVs). This model also creates a real-time communication pattern, which can permit the designed components to be customizable and reusable in new application developments of different AUV types. The paper brings out stepwise adapted AUV dynamics for control that are then combined with the specialization of MDA/MBSE features as follows: the computation independent model (CIM) is defined by the specification of the use-case model together with hybrid automata to gather the requirement analysis for control; the platform-independent model (PIM) is then designed by specializing the real-time UML/SysML’s features including main control capsules that depict structures and behaviors of controllers in detail; and the detailed PIM is subsequently converted into the platform-specific model (PSM) by object-oriented platforms to rapidly implement the AUV controller. Based on this proposed model, a horizontal planar trajectory-tracking controller was deployed and tested that permits a miniature AUV possessing a torpedo shape to reach and follow the desired horizontal planar trajectory.
Highlights
A hierarchical robust nonlinear (HRN) controller was designed by Karkoub et al [17] for the horizontal planar trajectory tracking of an Autonomous underwater vehicles (AUVs) subject to uncertainties; in this study, the proposed HRN controller was used with the integral backstepping (IB) and sliding mode control (SMC) techniques enclosed with the control Lyapunov function (CLF). e robustness of the proposed HRN controller was verified through injection of random uncertainties into the system model, and the closed-loop stability of the proposed individual subsystems was, respectively, guaranteed to have uniformly bounded performance
Following the AUV dynamics and control structure adapted in the second section together with LOS guidance [49,50,51], we present here the main use-case model (Figure 2) of AUV controllers combined with an example of trajectory-tracking scenarios and local state machine of the “track a desired trajectory” use case, which bdd [Project] M_AUV [General control structure]
Work e paper introduced a systems engineering-based implementation model to conveniently realize controllers for AUVs. is model is mainly based on the specializations of the model-driven architecture (MDA)/model-based systems engineering (MBSE) approach combined with the real-time Unified Modeling Language (UML)/System Modeling Language (SysML), extended Kalman filter (EKF)/unscented Kalman filter (UKF) algorithms, and hybrid automata (HA) for analyzing, designing, and deploying closely AUV controllers
Summary
Autonomous underwater vehicles (AUVs) are increasingly developed and used for the study of oceans to enhance the effectiveness of civil society in economic as well as in other naval facilities, e.g., the biological discovery of ocean resources, disaster and tsunami warnings, and self-operated underwater military means [1,2,3,4,5,6]. (1) e MDA/MBSE approach, in combination with the real-time UML/SysML, implemented functional block diagram, EKF/UKF algorithms, and hybrid automata, is specialized to intensively develop the AUV controller (2) e rule specializations permit the main designed control capsules to be customized and reused for various AUV types (3) A planar trajectory-tracking controller of a low-cost torpedo-shaped AUV is developed and tested e paper is structured as follows: the AUV dynamics and control structure are introduced in the second section. E third section presents the details of MDA/MBSE-driven development to intensively realize AUV controllers, including the CIM, PIM, and PSM components Following this proposed model, in the fourth section, it is applied to a case study of a miniature AUV possessing a torpedo shape. Conclusion and future work are reported in the final section
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