Advanced Pure Pursuit Guidance via Sliding Mode Approach for Chase UAV

Abstract This paper introduces an advanced pure pursuit guidance method for chase UAV. The advanced pure pursuit guidance method employs a sliding mode approach using a proper Lyapunov function, which is based on a three-dimensional expression related to a line of sight (LOS) angle. In order to apply the sliding mode approach to the pure pursuit guidance, a simple surface vector and a derivation scheme from the sliding approach solution are also introduced. The guidance and control system employs the advanced pure pursuit guidance to determine the UAV’s commanded bank angle and angle of attack , and a two-time scaled dynamic inversion technique to control the attitude, which draws on the UAV’s high maneuverability and chasing capability.