A fuzzy robust path following controller for a small unmanned air vehicle

This paper proposes a nonlinear controller that allows the unmanned air vehicle (UAV) to follow a predefined path. The controller only needs the information of the inertial speed of the UAV and the distance between the vehicle and the desired path. In order to improve the performance of the controller, a parameter of the controller is adjusted by a fuzzy logic rule. Lyapunov stability arguments are used to demonstrate that the path following error will be regulated to zero, even in the presence of wind disturbances. Simulation results in Matlab are given to show the effectiveness of the controller.