UAS 3D Path Following Guidance Method via Lyapunov Control Functions

This study explores the application of a comprehensive 3D guidance methodology, developed using control Lyapunov functions, in fixed-wing UAS with significant inertia. Initially, simplified inertia-free particles are utilized for control synthesis, followed by the reintroduction of aircraft dynamics to ensure effective path tracking. In a six-degree-of-freedom simulation environment, the 3D guidance law is compared with the widely adopted
$L_{1}$
guidance method, demonstrating exponential convergence to the desired trajectory in both lateral and longitudinal frames. These findings highlight the adaptability and efficacy of control Lyapunov functions, showcasing comparable performance to guidance logics tailored specifically for aerial systems, thus offering promising prospects for precise path following in UAS applications.