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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2512.06124 |
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| _version_ | 1866915657857105920 |
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| author | Shivam, Amit Fernandes, Manuel C. R. M. Fontes, Fernando A. C. C. Fagiano, Lorenzo |
| author_facet | Shivam, Amit Fernandes, Manuel C. R. M. Fontes, Fernando A. C. C. Fagiano, Lorenzo |
| contents | This paper presents a geometric and theoretical study of an exponentially varying look-ahead parameter for UAV path-following guidance. Conventional guidance laws with a fixed look-ahead distance often drive the vehicle into turn-rate saturation when the heading or cross-track error is large, leading to constrained maneuvers and higher control effort. The proposed variable L0 strategy reshapes the look-ahead profile so that the guidance command adapts to the evolving tracking error geometry. A detailed investigation shows that this adaptation significantly enlarges the region in which the commanded turn rate remains unsaturated, allowing the vehicle to operate smoothly over a broader range of error conditions. For representative settings, the unsaturated operational envelope increases by more than 70% relative to the constant L0 formulation. These geometric insights translate to smoother trajectories, earlier recovery from saturation, and reduced control demand. Simulation studies on straight-line and elliptical paths demonstrate the merits of the variable look-ahead strategy, highlighting its control-efficient and reliable path-following performance. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_06124 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Variable L0 Guidance Strategy: Enlarged Operational Envelope and Path-Following Shivam, Amit Fernandes, Manuel C. R. M. Fontes, Fernando A. C. C. Fagiano, Lorenzo Systems and Control This paper presents a geometric and theoretical study of an exponentially varying look-ahead parameter for UAV path-following guidance. Conventional guidance laws with a fixed look-ahead distance often drive the vehicle into turn-rate saturation when the heading or cross-track error is large, leading to constrained maneuvers and higher control effort. The proposed variable L0 strategy reshapes the look-ahead profile so that the guidance command adapts to the evolving tracking error geometry. A detailed investigation shows that this adaptation significantly enlarges the region in which the commanded turn rate remains unsaturated, allowing the vehicle to operate smoothly over a broader range of error conditions. For representative settings, the unsaturated operational envelope increases by more than 70% relative to the constant L0 formulation. These geometric insights translate to smoother trajectories, earlier recovery from saturation, and reduced control demand. Simulation studies on straight-line and elliptical paths demonstrate the merits of the variable look-ahead strategy, highlighting its control-efficient and reliable path-following performance. |
| title | Variable L0 Guidance Strategy: Enlarged Operational Envelope and Path-Following |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2512.06124 |