WSEAS Transactions on Systems
Print ISSN: 1109-2777, E-ISSN: 2224-2678
Volume 12, 2013
An Object-Oriented Analysis and Design Model to Implement Controllers for Quadrotor UAVs by Specializing MDA’s Features with Hybrid Automata and Real-Time UML
Authors: , ,
Abstract: This paper presents a new approach which is based on the specialization of the Model-Driven Architecture (MDA) with the Real-Time Unified Modeling Language (RT UML) and hybrid automata to effectively analyze, design and implement controllers for quadrotor UAVs (Unmanned Aerial Vehicles). It also allows the designed elements to be customizable and re-usable in the development of new control applications of different quadrotor UAVs. The paper shows out step-by-step the quadrotor UAV dynamic model-to-be used, and the specialization of MDA’s features such as the Computation Independent Model (CIM) with use-cases and hybrid automata, the Platform Independent Model (PIM) carried out by using RT UML, and its Platform Specific Model (PSM) implemented by sub-system paradigms and object-oriented mechanisms to entirely perform the development lifecycle of quadrotor UAV controllers. The object transformation rules are also introduced and applied to convert the detailed control design model of PIM into the implementation model of PSM using open-source platforms in order to quickly simulate and realize the control performance and operational functionalities of system. Based on this approach, a trajectory-tracking controller of a mini quadrotor UAV is completely developed and successfully taken on trial flights.
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Keywords: Quadrotor UAV control, Autonomous flying robots, Object-oriented analysis and design, Hybrid automata, Real-Time UML, MDA