LATERAL CONTROL WITH IMPROVED PERFORMANCE FOR UAVs

This paper presents conventional proportional and derivative lateral control law with some non-linear modifications which enhance tracking performance for a UAV in different flight conditions especially recovery from large cross track errors. The scheme was implemented in C/C++ and extensively tested in 6-DoF nonlinear simulation environment. The performance was also compared with recent nonlinear lateral control logic (Park, 2004) on straight and circular paths. Simulation results showed that proposed scheme gave comparable path tracking performance with nonlinear logic on circular trajectories along with improved performance on straight paths with smaller steady state errors.