Description of a modeling, simulation, animation, and real-time control (MoSART) environment for a class of 6-DOF dynamical systems

Armando Rodriguez, Oguzhan Cifdaloz, Mariano Phielipp, Jeff Dickeson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations


This paper describes an Interactive Modeling, Simulation, Animation, and Real-Time Control (MoSART) Environment that is useful for controls education and research. The described MoSART Environment is shown to be useful for analyzing, designing, visualizing, and evaluating control systems for a broad class of six degree-of-freedom (6-DOF) dynamical systems which include: various fixed-wing aircraft, helicopters, unmanned air vehicles (tilt-wing rotorcraft), missiles, submarines, and satellites. The environment - referred to as Control3D-Lab - is based on Microsoft Windows, Visual C++, Direct-3D, and MATLAB/Simulink 2. The environment can be used as a stand-alone application or together with MATLAB, Simulink, and toolboxes. In either case, the interface permits users to access the following (via pull-down menus): animation models, mesh properties, texture and lighting models, system-specific visual indicators, graphics to be displayed, animation/data display/storage rates, simulation control buttons, and extensive documentation. When Simulink is present, users can exploit extensive visualization and 3D animation features through provided and/or user-generated Simulink diagrams. This capability makes the developed environment very extensible with respect to mathematical models and control laws. The environment also contains a suite of well documented (easy-to-modify) models and control laws that are implemented within the provided Simulink block diagrams. Provided (special) blocks enable animation, joystick inputs, and (near) real-time simulation and animation (when possible)3. Associated with each block diagram are system-specific, menu-accessed m-files that permit detailed analysis and design. The developed environment is shown to be a valuable tool for enhancing both controls education in a variety of classes as well as research.

Original languageEnglish (US)
Title of host publicationProceedings of the 2007 American Control Conference, ACC
Number of pages6
StatePublished - 2007
Event2007 American Control Conference, ACC - New York, NY, United States
Duration: Jul 9 2007Jul 13 2007

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2007 American Control Conference, ACC
Country/TerritoryUnited States
CityNew York, NY

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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