Name
Title | ||
|---|---|---|
Linear Model Predictive Control for the encirclement of a target using a quadrotor aircraft |
Abstract | ||
|---|---|---|
Encirclement is a task accomplished by an Un-manned 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. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/MED.2013.6608928 | Mediterranean Conference on Control and Automation |
Keywords | Field | DocType |
mathematical model,path planning,cost function,predictive control,real time systems,linear systems,computational modeling | Motion planning,Control theory,MATLAB,Linear system,Encirclement,Matlab simulink,Computer science,Linear model,Control theory,Model predictive control,Control engineering | Conference |
ISSN | Citations | PageRank |
2325-369X | 3 | 0.43 |
References | Authors | |
3 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Iskandarani, M. | 1 | 19 | 1.46 |
| Sidney Nascimento Givigi | 2 | 20 | 6.91 |
| Camille A. Rabbath | 3 | 142 | 13.60 |
| Alain Beaulieu | 4 | 40 | 7.78 |