Multi-Phase Homing Trajectory Planning and Control for Parafoil-Payload System

The autonomous homing process of parafoil-payload systems is investigated in this paper. Three models are established, including a 9-DoF multi-body dynamics model for precisely describing the system dynamics, a 4-DoF particle model for trajectory planning, and a reduced third-order model for model predictive control (MPC). In trajectory planning stage, a coronavirus optimization algorithm (COVIDOA) is adopted to minimize the landing error and energy consumption. For tracking the planned trajectory, a dynamic reference point selection method (DRPSM) is proposed to address the problem of time sequence mismatch between the planned trajectory and actual trajectory. A model predictive controller is then designed to track the reference trajectory. Simulation for the whole airdrop process is at last presented.