Vector Field Path Following for Miniature Air Vehicles

TLDR

This paper develops a method for accurate path following of miniature air vehicles. The method employs vector‑field based control laws that generate desired course inputs for inner‑loop attitude control, with Lyapunov analysis proving asymptotic error decay even under constant wind disturbances. Flight tests show mean path‑following errors below one wingspan on straight‑line and orbit paths, and below three wingspans on frequently changing paths.

Abstract

In this paper, a method for accurate path following for miniature air vehicles is developed. The method is based on the notion of vector fields, which are used to generate desired course inputs to inner-loop attitude control laws. Vector-field path-following control laws are developed for straight-line paths and circular arcs and orbits. Lyapunov stability arguments are used to demonstrate asymptotic decay of path-following errors in the presence of constant wind disturbances. Experimental flight tests have demonstrated mean path-following errors on less than one wingspan for straight-line and orbit paths and less than three wingspans for paths with frequent changes in direction.