Model Derivation and Control System Simulation for Unmanned Aerial Vehicle

in this paper, a six degrees of freedom mathematical model for unmanned aerial vehicle (UAV) is proposed, in which the translational dynamics is expressed in the UAV body frame and is depicted by air velocity, angle of attack and sideslip angle. This model has the merits of explicitly formulating the dynamic states to be controlled in the system model. The simulation architecture and control system design criterion was presented. Based on the mathematical model, the mission scenario of the UAV was assigned, related uncertainties were considered, the simulation framework was constructed under the MATLAB/Simulink, the simulation results demonstrated the validity and feasibility of the proposed model and related algorithm.