A MBSE Application to Controllers of Autonomous Underwater Vehicles Based on Model-Driven Architecture Concepts

Abstract

In this paper, a hybrid realization model is proposed for the controllers of autonomous underwater vehicles (AUVs). This model is based on the model-based systems engineering (MBSE) methodology, in combination with the model-driven architecture (MDA), the real-time unified modeling language (UML)/systems modeling language (SysML), the extended/unscented Kalman filter (EKF/UKF) algorithms, and hybrid automata, and it can be reused for designing controllers of various AUV types. The dynamic model and control structure of AUVs were combined with the specialization of MDA concepts as follows. The computation-independent model (CIM) was specified by the use-case model combined with the EKF/UKF algorithms and hybrid automata to intensively gather the control requirements. Then, the platform-independent model (PIM) was specialized using the real-time UML/SysML to design the capsule collaboration of control and its connections. The detailed PIM was subsequently converted into the platform-specific model (PSM) using open-source platforms to promptly realize the AUV controller. On the basis of the proposed hybrid model, a planar trajectory-tracking controller, which allows a miniature torpedo-shaped AUV to autonomously track the desired planar trajectory, was implemented and evaluated, and shown to have good feasibility.

Expediting recovery of autonomous underwater vehicles in dynamic mission environments: A system‐of‐systems challenge for underwater warfare

“…AUV for docking with moving targets. However, it is acknowledged that homing for docking would require additional infrastructure and increased observability (e.g., higher update rates of range and bearing to the target) (Hien et al, 2020;Sans-Muntadas et al, 2015;Yazdani et al, 2020).…”

“…The localization and homing accuracy demonstrated is suitable for expediting AUV recovery in dynamic mission environments or pre‐positioning the AUV for docking with moving targets. However, it is acknowledged that homing for docking would require additional infrastructure and increased observability (e.g., higher update rates of range and bearing to the target) (Hien et al, 2020; Sans‐Muntadas et al, 2015; Yazdani et al, 2020).…”

Model-Based Digital Overall Integrated Design Method of AUVs

“…Next, the hierarchical structure-component relationships of an AUV are described. This article refers to the concept and framework definition of controllers of an AUV given in [22] and combines the composition relationships of other typical subsystems, such as the AUV power, detection, and communication, to clarify the hierarchical structure, interface specifications, and interaction methods of various professional systems, including power, detection, control, and communication systems, thus ensuring both coordination and consistency between various subsystems and components.…”

“…In terms of specific applications, reference [18][19][20] proposed to leverage parallel cosimulation between the plant, model predictive controller, and processor. Gerschütz et al [21] discussed the digital engineering methods and developed a hybrid realization model for AUV controllers based on the model-based systems engineering (MBSE) methodology [22]. Lu, J. et al [23] proposed a SPIRIT framework supporting a model-based system engineering (MBSE) tool-chain development method of advanced cyberphysical systems (CPSs) with an emphasis on the tool integration, process management, automated verification, and validation.…”