Sliding mode based pure pursuit guidance for UAV rendezvous and chase with a cooperative aircraft

This paper introduces a high performance pure pursuit guidance method via sliding mode approach for a UAV´s rendezvous with a cooperative aircraft. A guidance method for rendezvous should orient the UAV to a predicted rendezvous position and a specified heading constraint that enable the UAV to continue to follow a cooperative aircraft at a desired distance. For the guidance scheme to accomplish these objectives, a chosen waypoint is used to guide the UAV to a rendezvous point with an allowable heading error. Furthermore, the UAV has to reach the proposed rendezvous point at an admissible time of arrival and to have the same velocity as that of the cooperative aircraft. To this end, a dynamic inversion (DI) based velocity controller is introduced. The proposed pure pursuit guidance in conjunction with a waypoint setting methodology, and the DI based velocity controller are discussed in this paper. Some simulation results are also provided to demonstrate and analyze the performance of the proposed scheme.