Object-oriented modeling and simulation of complex control systems

The modeling, simulation and design of increasingly complex systems requires new mechanisms such as software components and generic architectures to promote software reuse. An object-oriented approach allows the design of such structure thanks to its capacities of abstraction and the latest concepts of Design Patterns and software Frameworks. Taking the example of the modeling of a robotic articulated arm, this paper describes the main advantages as well as the essential characteristics of object-oriented approach focusing on the concepts of abstraction and integration. It explains in particular how to model a complex system using the Unified Modeling Language (UML), then presents the various kinds of UML diagrams necessary for this type of modeling: use-case diagrams, collaboration diagrams and class diagrams. Finally the paper depicts higher level design elements such as Design Patterns and software Frameworks, showing how they can be used to build rapid application development environments for the design of flexible applications dedicated to the control and simulation of complex systems.