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Journal of Control Science and Engineering
Volume 2017, Article ID 6712602, 11 pages
Research Article

Planar Smooth Path Guidance Law for a Small Unmanned Aerial Vehicle with Parameter Tuned by Fuzzy Logic

1School of Mechanical and Electrical Engineering, Longyan University, Fujian 364000, China
2Robotics Institute, Beihang University, Beijing 100191, China
3Science and Technology on Special System Simulation Laboratory, Beijing Simulation Center, Beijing 100854, China

Correspondence should be addressed to Yang Chen; moc.361@7114gnaynehc

Received 16 November 2016; Accepted 21 February 2017; Published 26 March 2017

Academic Editor: William MacKunis

Copyright © 2017 Yang Chen et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A guidance law has been designed to guide the small unmanned aerial vehicle towards the predefined horizontal smooth path. The guidance law only needs the mathematical expression for the predefined path, the positions, and the velocities of the vehicle in the horizontal inertial frame. The stability of the guidance law has been demonstrated by the Lyapunov stability arguments. In order to improve the path following performance, one of the parameters of the guidance law is tuned by using the fuzzy logic which will still keep its stability. The simulation experiments in the Matlab/Simulink environment to realize the square-, circular-, and the athletics track-style paths following are given to verify the effectiveness of the proposed method. The simulation results show that the path following performance will be improved with smaller overshoot and oscillation amplitude and shorter arrival time with the parameter tuned.