Combined vector field approach for planar curved path following with fixed-wing UAVs

摘要

In this paper the problem of planar curved path following using fixed-wing unmanned aerial vehicles (UAVs) is studied. UAV input constraints and constant wind disturbance are considered. A combined vector field is proposed by trading off a conservative vector field and a solenoidal vector field. Accordingly a saturated course rate controller is designed, and its stability is discussed through the Lyapunov stability theory. Simulation examples show us the effectiveness of the approach.