UAV Guidance Law for Target Tracking along constrained Bow-Shaped Trajectory based on Lyapunov Vector Field

This paper describes a 2D target loitering problem addressed to UAV applications. While target tracking and loitering problems have been studied for long time in literature, here a new and particular type of loitering trajectory around the target (fix o moving) is considered: a Lemniscate-type trajectory. The proposed way to track this particular curve derives from the Lyapunov Vector Field theory, a recently developed methodology that has been used and tested for simpler cases before, such as circles or basin-like trajectory tracking. A stability analysis and preliminary simulation results are given in this paper.