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A Practical Specialization of MDA/MBSE Approach to Develop AUV Controllers

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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.

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Authors and Affiliations

  1. Department of Ship Engineering and Fluid Mechanics, School of Transportation Engineering, Hanoi University of Science and Technology, Hanoi, 10000, Vietnam

    Ngo Van Hien & Pham Gia Diem

Authors
  1. Ngo Van Hien
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  2. Pham Gia Diem
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Correspondence to Ngo Van Hien.

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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.

Appendix

Appendix

An example of the main “HA_Q_AUV.h” header and “HA_Q_AUV.h.cpp” implementation files of HA library for the developed AUV controller were implemented, verified, and compiled to fit in ATMEGA32-U2 and STM32 Cortex-M4 microcontrollers by using Arduino IDE version 1.8.0.

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Van Hien, N., Diem, P.G. A Practical Specialization of MDA/MBSE Approach to Develop AUV Controllers. J. Marine. Sci. Appl. 20, 102–116 (2021). https://doi.org/10.1007/s11804-020-00151-5

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  • DOI: https://doi.org/10.1007/s11804-020-00151-5

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