A hybrid automata and SysML-based model for controllers of autonomous surface vehicles



  • Cao Duc Sang Institute of Military Technical Automation, Academy of Military Science and Technology
  • Le Tran Thang Institute of Military Technical Automation, Academy of Military Science and Technology
  • Ngo Van Hien Hanoi University of Science and Technology
  • Ngo Van He (Corresponding Author) Hanoi University of Science and Technology
  • Nguyen Trong Khuyen Institute of Military Technical Automation, Academy of Military Science and Technology




Autonomous underwater vehicles/autonomous surface vehicles (AUVs/ASVs); AUV/ASV control; Hybrid automata; Systems modeling language (SysML); Object-oriented technology; Model transformation.


Autonomous Underwater Vehicles/Autonomous Surface Vehicles (AUVs/ASVs) are increasingly being used in research, monitor and exploitation of marine resources. In particular, the design of control system for AUVs/ASVs is very important because it is closely connected to the hydrodynamic model of operating vehicles in the complex water environment. This paper presents a hybrid object-oriented control model, which is based on the specializations of hybrid automata and Systems Modeling Language (SysML), in order to systematically analyze, design and implement controllers of autonomous unmanned surface vehicles (ASVs). Based on this proposed hybrid model, a horizontal planar course-tracking controller of an ASV model was implemented and tested with good reliability.


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How to Cite

Cao Đức Sáng, Lê Trần Thắng, Ngô Văn Hiền, Ngô Văn Hệ, and Nguyễn Trọng Khuyên. “A Hybrid Automata and SysML-Based Model for Controllers of Autonomous Surface Vehicles”. Journal of Military Science and Technology, no. CAPITI, Apr. 2024, pp. 175-81, doi:10.54939/1859-1043.j.mst.CAPITI.2024.175-181.



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