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

Table 1

Rule base for the fuzzy logic unit.

NB	NM	NS	Z	PS	PM	PB
	NB	PB	PB	Z	Z	Z	NM	Z
	NM	Z	PS	NS	PS	PS	NS	Z
	NS	Z	PS	NS	PS	PS	NS	Z
	Z	Z	PM	Z	PS	Z	NS	Z
	PS	Z	PM	PS	PS	NS	NS	Z
	PM	Z	PS	PS	Z	NS	NS	Z
	PB	Z	Z	Z	Z	Z	NB	NB