Modelling and Control of UAV using MATLAB simulink

Introduction—

MATLABSolutions demonstrate In this task we are going to design In this project we are going to design and implement the UAV particularly quadrotor. First, we have to create the mathematical model of the quadrotor using the sets of differential equations which we found using the research. After designing the model which as four inputs which is the throttle, roll, pitch and yaw commands and the six outputs which are the position and orientation of the quadrotor in the 3D plane. After that we design the flight control system which is used to track the reference path set by the user and the UAV will follow the part in order to complete the scenario. Small Unmanned Aerial Vehicles are now a reality thanks to recent developments in sensor, microcontroller, control, and aerodynamics theory. These systems are prospective solutions in a wide range of applications, from amateur to various types of reconnaissance applications, thanks to their compact size, low cost, and agility.

The Newton's second law of motion, which states that the acceleration produced by the net force acting on a body is directly proportional to the net force, in the direction of the net force, and inversely proportional to the mass of the body, is applied in order to derive a mathematical description of the quadrotor. The equation is described as

Simulation of UAV

                        % Clear Data and figures
clc
clear
close all

% Define Parameters
% Gravitational Acceleration
g=9.81;
% Mass
m=0.5;
% length of Arm
l=0.235;
% Mass Moment of Inertia
Ixx=8.11*10^-5;
Iyy=8.11*10^-5;
Izz=6.12*10^-5;

% Compute Model Parameters
b1=l/Ixx;
b2=l/Iyy;
b3=l/Izz;
a1=(Iyy-Izz)/Ixx;
a2=(Izz-Ixx)/Iyy;
a3=(Ixx-Iyy)/Izz;

% Define Trajectory of the UAV
Waypoints=[0 0 0;0 0 2;50 0 2;50 50 2;0 50 2;0 2.5 2;0 0 0];
TimeOfArrival=cumsum([0 15 60 60 60 60 15]);