Vector Field-Based Guidance for Planar Smooth Path Following of a Small Unmanned Helicopter

Table 1

Comparison of the maximum overshoot and rise time about with the methods the vector field, FC_PFC, and PD_PFC.

	Maximum overshoot (m)			Rise time (s)			Convergence time (s)
	Vector field	FC_PFC	PD_PFC	Vector field	FC_PFC	PD_PFC	Vector field	FC_PFC	PD_PFC
Area (a)	−0.0134	−0.8138	−1.9197	3.66	3.54	2.64	3.66	7.64	7.38
Area (b)	−0.0060	−0.8572	−1.9187	3.66	3.50	2.64	3.66	7.64	7.36
Area (c)	−0.0147	−0.8569	−1.9161	3.67	3.51	2.66	3.67	7.72	7.38
Area (d)	−0.0134	−0.8473	−1.9073	3.65	3.49	2.66	3.65	7.66	7.36
Area (e)	−0.0152	−0.8484	−1.9238	3.70	3.52	2.63	3.70	7.64	7.34
Area (f)	−0.0131	−0.8635	−1.9217	3.70	3.45	2.64	3.70	7.64	>7.00