Homing Control of Parafoil System with Optimal Trajectory Planning

Parafoil delivery system is widely used in the area of the cargo airdrop and aircraft recovery. Their main function is to deliver the payload to the target position. There are many methods used in homing control of parafoil with trajectory planning. Traditional planning trajectories of parafoil are generally composed of standard circles and straight lines. But it is difficult to plan and track the flexible trajectory during real-time motion as well as consider obstacle avoidance and the fluctuation of control input. In this paper, we use the Gaussian pseudospectral method to plan three degree of freedom model trajectory. Then, we make an eight degree of freedom dynamic model trajectory tracking based on active disturbance rejection controller. Simulation experiments are conducted to evaluate the model and the control method. Results show that the model trajectory can realize optimal trajectory planning and easy to track.