An improved nonlinear guidance law for unmanned aerial vehicles path following

To guarantee the UAVs path following accuracy and guarantee the ability of anti-disturbance, an improved nonlinear path following method for UAVs is proposed in the paper. Based on the nonlinear guidance logic, the virtual target on the path is confirmed and the instantaneous lateral acceleration of UAVs is calculated. What´s more, to compensate other uncertain factors in the path following process such as model uncertainty or other disturbances (wind etc), a feed-back term is added accordingly. Simulations are carried out, including the straight line and curved circle path following experiments, to verify the advantages of the proposed method.