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Journal ofScience & Technology 100 (2014) 011-015

An Object-Oriented Approach to Analyze and Design Controllers

of Autonomous Surface Vessels

Nguyen Hoai Nam, Khuong Minh Tuan, Ngo Van Hien*, Hoang Sinh Truong Hanoi University of Science and Technology, No.l Dai Co Viet Str., Ha Not, VietNam

Received; March 04, 2014; accepted: April 22, 2014

Abstract

This paper presents a novel approach based on the Model-Driven Architecture (MDA) to systematically

analyze, design and implement controllers of Autonomous Surface Vessels (ASV). It brings out main steps

to entirely specify the requirement analysis, design and deployment phases of these systems. In this

approach, we adapt the ASV dynamic model for control, and specialize MDA's features such as the

Computation Independent Model (CIM) combined with the use-case model and hybrid automata, the

Platform Independent Model (PIM) carried out by using the real-time Unified Modeling Language

(UML)/System Modeling Language (SysML). and its Platform Specific Mode! (PSM) implemented by

object-oriented mechanisms to completely perform the development lifecycle of ASV controller This

approach is then applied to implement and deploy a horizontal planar trajectory-tracking controller for a

miniature autonomous marine vehicle. In this application, the PIM Is converted into the PSM by using the

open-source platform in order to quickly simulate and realize the operational functionalities of control

system.

Keywords: Autonomous Surface Vessel, Hybrid Automata, UML, SysML and MDA.

I. Introduction

Conttol systems have a significant impact on

the performance of surface vessels and marine

structures allowing them to perform tasks in severe

sea states and during long periods of time. Surface

vessels are designed to operate with adequate

reliability and economy, and in order to achieve this,

it is essential to control the motion. The problem of

designing motion contiollers for ASV is equally

challenging because they are tightly cotmected with

the dynamic models. In addition, the immersion in an

mdustrial conttol context makes that the designers

and programmers must take into account costs and

existing standards for analyzing, designing and

implementing effectively these systems.

Starting from the above considerations, we

have developed an object-oriented model to

effectively carry out the conttoller of Autonomous

Surface Vessels (ASV), which have the dynamic

behaviors modeled by using hybrid automata [I], [2].

This system permits an ASV to reach and follow a

reference ttajectory in the Cartesian space. In this

model, we specify the dynamic model of surface

vessels, MDA's feahires such as the CIM with use￾case model including hybrid automata and industrial

constraints, the PIM earned out by using real-time

UML/SysML, and its PSM implemented by object-

' Conesponding autiior; Tel: (+84) 904.255.855

Email: hien.ngovan(ahust.edu.vn

oriented mechanisms to cover the whole of

development hfecycle of ASV contiollers. Based on

this approach, a ttajectory-ttacking conttoller of a

miniature ASV is completely retto-designed and

simulated.

2. Modelling asv dynamics for control

2.1. Dynamic model of surface vessels

According to SNAME [3], the six motion

components of a surface vessel defined as surge,

sway, heave, roll, pilch, and_vavv. From the large field

of guidance, navigation and conttol of marine

vehicles [4], the 6 Degrees of Freedom (DoF)

dynamic model of surface vessels in body frame can

be written in (1):

{ M-v + C(v)v -f- Div)v -1- giri) = T -|- 5^ + cu *^'

Where: r] (x, y, ^. tp 9, 1//)^ is the

position (NED: North, East and Down) and

orientation (Euler: RPY -Roll, Pilch and Yaw angles);

V = (u, V. w, p, q, r)'"\% the velocity and angular

velocity; M = M^^ + M^ is a mass mattix, which

denotes the 6x6 system inertia matrix containing

both: MKB - the generalized constant inertia matrix,

and MA the added mass inertia mattix;

C(v)=C^(v)-\-C/v) is the 6x6 Conolis and centripetal

forces matrix including added mass; linear and