Motion stability modeling will be carried out as an important part of developing a mathematical model for air vehicles using Euler's equation of motion as a moving object with six degrees of freedom. The effect of aerodynamics is not only limited to the body of the vehicle but also to all aerodynamic components in the unmanned aerial vehicle being studied. The influence of thrust motor dynamics (thruster) becomes important, especially when the vehicle is in a slow and smooth motion. Therefore, accurate modeling and verification by simulation are the necessary steps in the optimization process. The developed mathematical model is then used to optimize and simulate the control system of the UAV-HALE unmanned aerial vehicle.

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Concrete evidence that makes it difficult to control the HALE UAV aerial vehicle includes the dynamic behavior of the robot which is non-linear and varies with time, the indeterminate state of the aerodynamic coefficient, and the non-linear behavior of the structure when aerodynamic interferences occur due to interactions. between the components of the HALE UAV air vehicle, upward air disturbance (gust), and changes in the center of weight and dynamic stability of the vehicle due to the movement of the vehicle components which also affect the body of the robot. The most important part of the operation of unmanned aerial vehicles is the success in implementing the control system to ensure the stability of the vehicle. The control system synthesis will begin with the determination of the tested control system candidates based on literature studies: classical controllers, fuzzy logic, and sliding mode. In the Loop (HIL) simulation hardware that utilizes the actual components of the vehicle and high altitude atmospheric conditions are used as an extension of the standalone numerical simulation

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