This paper presents a robust path following control law that enables a fixed-wing UAV to track a reference path under the wind disturbance. The proposed path following control law combines the kinematic control law for regulating the distance error to the moving reference point and the command-filtered backstepping scheme for obtaining the roll command of the UAV. Unlike the conventional backstepping scheme, the command-filtered backstepping scheme avoids the numerical differentiation to compute the filtered derivative of the desired course angle command, which increases the overall system robustness. Along with the rigorous theoretical proof, the performance of the proposed control law is evaluated via the hardware-in-the-loop simulations and the flight tests. The experimental results show that the improved tracking performance as well as the enhanced robustness, proving the applicability of the proposed algorithm in the various mission of the fixed-wing UAV in wind disturbance environment

本文提出了一种鲁棒的路径跟随控制律，使固定翼无人机能够在风扰动下跟踪参考路径。所提出的路径跟随控制律结合了用于调节到移动参考点的距离误差的运动学控制律和用于获得无人机滚转命令的命令过滤反步法。与传统的反推方案不同，命令过滤的反推方案避免了数值微分来计算所需航向角命令的过滤导数，这增加了整体系统的鲁棒性。除了严格的理论证明外，还通过硬件在环仿真和飞行测试来评估所提出的控制律的性能。