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A Model-Driven Realization of AUV Controllers Based on the MDA/MBSE Approach
Journal of Advanced Transportation
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 todoi:10.1155/2020/8848776 fatcat:5jmrt4j3d5h67kyjurcw7fx43m