An Object-Oriented Model Based on the Specialization of Real-Time UML/MARTE and Hybrid Automata to Realize Industrial Hybrid Dynamic Systems

In this paper, we present a hybrid control design, which is followed up by the Real-Time Unified Modeling Language (UML) and MARTE, in combination with hybrid automata to intensively deploy controllers of industrial Hybrid Dynamic Systems (HDS). The paper shows out step-by-step the specification of an industrial HDS modeled by the specialization of hybrid automata to capture the control requirements. The design artifacts of industrial HDS are then carried out by specializing the Real-Time UML/MARTE that allow finding out quickly the main control capsules, their ports and communication protocols, in order to precisely model and closely allocate control structures and dynamic behaviors for implementing controllers of systems. The important realization hypotheses of timing concurrency are next shown out that permit the designed capsules to perform the control evolutions for HDS applications. Finally, this proposed model is applied to develop a horizontal planar trajectory-tracking controller of a low-cost turtle-shaped autonomous underwater vehicle.