Autonomous homing control of a parafoil system based on ADRC

In order to realize safe and accurate homing of a parafoil system, a multiphase homing path planning method is proposed according to flight characteristics of the vehicle. And a new particle swarm optimization algorithm based on chaos searching (CPSO) is applied as a tool to optimize the designed path. With consideration that the traditional control methods cannot ensure the precision of path following for the problem of nonlinear, large inertial, long time delay existed in the system and strong disturbances in its flying environment, a homing controller is designed based on active disturbance rejection control (ADRC). The simulation results demonstrate that the multiphase homing trajectory can fulfill the requirements of fixed-point and upwind landing; the designed homing controller can track the planned homing path rapidly and steadily, overcome the influences of uncertain items of model and external disturbances, and possesses better robustness and control performances than the PID controller.