UAV Guidance Law for Trajectory Tracking of a Normalised Lemniscate

This paper derives a UAV guidance law to track a Lemniscate-like curve. A normalized Lemnis- cate is presented in order to create a constant speed reference path centered around a ground target position suitable to be overflown by an un- manned air vehicle. Tracking is achieved by in- troducing a virtual target that is moving along the Lemniscate according to the UAV actual po- sition and velocity. The the guidance law to- gether with its local stability is derived using Lyapunov theory.