Linear Model Predictive Control for the encirclement of a target using a quadrotor aircraft

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.