Development Of Translational Motion Of Unmanned Aerial Vehicle Using MATLAB

This research work describes the translational motion analysis of unmanned aerial vehicle (UAV). Since the center of mass of the receiver is time–varying, the equations are written in a reference frame that is geometrically fixed in the aircraft. Due to the fact that aerial vehicle simulation and control deal with the position and orientation of the UAV, the equations of motion are derived in terms of the translational and rotational position and velocity with respect to the aircraft location. The formation relative motion control is a challenging problem due to the coupled translational and rotational dynamics. As the translational vector depends on the current attitude and its angular velocity, and some of the attitude constraints also couple the position and attitude of the spacecraft, it makes the formation control problem high dimensional. This work develops UAV stability conditions, including translational vector maneuverability condition and included angle condition between the translational and the rotational motion of UAV system, and then presents two methods to calculate the UAV attitude. Both of the two methods need first design the optimal trajectory of the translational vector, and then use geometric and nonlinear programming methods to calculate the target trajectory. The validity of the proposed approach is demonstrated in a UAV by using MATLAB. The performance of the translational motion control is evaluated by the simulated results.