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This paper presents an algorithm for solving the problem of tracking smoothcurves by a fixed wing unmanned aerial vehicle travelling with a constantairspeed and under a constant wind disturbance. The algorithm is based on theidea of following a guiding vector field which is constructed from the implicitfunction that describes the desired (possibly time-varying) trajectory. Theoutput of the algorithm can be directly expressed in terms of the bank angle ofthe UAV in order to achieve coordinated turns. Furthermore, the algorithm canbe tuned offline such that physical constraints of the UAV, e.g. the maximumbank angle, will not be violated in a neighborhood of the desired trajectory.We provide the corresponding theoretical convergence analysis and performanceresults from actual flights.

Guidance algorithm for smooth trajectory tracking of a fixed wing UAV flying in wind flows