The Unmanned Air Vehicles (UAVs) are being integrated into our society at an increasing rate. The amount of industries that use drones is getting larger every year. Besides the military sector, which was probably the first adopter of drone technology, they are now also being used in the industries such as search and rescue, delivery service, media, civil engineering, etc. In fact, airlines now use drones to perform inspections on aircraft. They fly around airplanes in search of cracks and deformations in the structure. They can also perform such inspections inside an airplane wing, in which fuel is stored. That means that the drone is given a trajectory to follow. That path can be generated live from the cameras on board or it can be a programmed track. However, the fact is that there is a path that the drone receives and so it has to regulate its actuators (rotors) in such a way that the drone follows the trajectory. This is what the thesis is about - to design and implement a controller in MATLAB® that makes the UAV follow the coordinates given to it. The main control strategy used in this thesis will be Model Predictive Control (MPC) that is applied to a drone’s mathematical model in the Linear Parameter Varying (LPV) format. Thanks to this format, it will be possible to apply the most basic MPC strategy, which is suitable for linear systems. Firstly, an attempt is made to control the UAV with a single LPV-MPC controller; however, it will be apparent in the thesis that due to strong nonlinearities, the drone was not able to follow the reference coordinates. Therefore, the controller was separated into two separate controllers. The LPV-MPC strategy was used to control the attitude of the UAV and the feedback linearization strategy was used to control the position of the drone. The validation of the control strategy was performed in MATLAB® in the form of several simulations. Five different tracks were given for the drone to follow. It was then examined how well the UAV followed the given positions, velocities and anglesIncomin
