Hardware implementation of a fuzzy guidance system with prescribed waypoint approach trajectory

This paper presents the development, implementation and testing of a guidance scheme for unmanned air vehicles, based on waypoints that are described in a 4-D space: position in 3-dimension and desired crossing heading. The proposed guidance is first designed as a fuzzy system, then is adapted to the requirements imposed by the autopilot hardware used in the tests. In particular, the initial guidance system is based on three standard Takagi-Sugeno fuzzy controllers that provide heading reference for the autopilot. Subsequently these are simplified with the development of two discrete maps. The results of classical simulations and of simulations with Hardware in the Loop are presented.