A novel guidance law with input saturation

Anay Pattanaik, Mangal Kothari

Abstract: This paper presents a novel path following algorithm for unmanned aerial vehicles in the presence of external wind disturbances. The issue of input saturation due to turn radius constraints is addressed using the theory of nested saturation which is important for real-world systems. Furthermore, the proposed algorithm incorporates inertial speed that adds an adaptive capability to accommodate vehicle speed changes due to wind. The stability of the proposed algorithm is established through Lyapunov stability analysis. A comparative study is also performed to evaluate the performance of the proposed law with some existing algorithms.