Title :
Linear Model Predictive Control for the encirclement of a target using a quadrotor aircraft
Author :
Iskandarani, M. ; Givigi, Sidney N. ; Rabbath, C.A. ; Beaulieu, A.
Author_Institution :
Dept. of Electr. & Comput. Eng., R. Mil. Coll. of Canada, Kingston, ON, Canada
Abstract :
Encirclement is a task accomplished by an Unmanned Aerial Vehicle (UAV) in order to maintain awareness and containment of a given target. The aim of the UAV encircling this target is to maintain close proximity at all times. In this paper, the problem of maintaining a circular path around a target is considered and a Linear Model Predictive Control (LMPC) strategy is implemented on a Qball-X4 quadrotor aircraft in order to follow the circular path. A linear model for the two-dimensional movement of the UAV and its respective MP controller has been designed in MATLAB Simulink, simulated in a X-Plane/MATLAB interface and implemented on the actual vehicle in real-time. The results of the LMPC in simulation are compared to those found while implementing the algorithm on a physical platform. The contributions of this paper lay in the implementation of an autonomous Linear MP controller for the encirclement of a stationary target by a Qball-X4 quadrotor.
Keywords :
aircraft control; autonomous aerial vehicles; controllers; linear systems; path planning; predictive control; LMPC strategy; MATLAB Simulink; MATLAB interface; MP controller; Qball-X4 quadrotor aircraft; X-plane interface; autonomous linear MP controller; circular path; linear model predictive control strategy; target containment; target encirclement; two-dimensional UAV movement; unmanned aerial vehicle; Aircraft; Approximation methods; Computational modeling; Cost function; Equations; Mathematical model; Real-time systems;
Conference_Titel :
Control & Automation (MED), 2013 21st Mediterranean Conference on
Conference_Location :
Chania
Print_ISBN :
978-1-4799-0995-7
DOI :
10.1109/MED.2013.6608928
