Lateral control approach of powered parafoils combining wind feedforward compensation with active disturbance rejection control

Accurate lateral trajectory tracking control of powered parafoil system with high capacity of resisting wind disturbance still remains a challenging problem. To reduce the influence of variable wind disturbance on the lateral yaw angle control system of the powered parafoil, a novel control approach combining wind compensation with active disturbance rejection control (ADRC) is proposed. The wind dynamic feedforward compensation controller and ADRC are respectively designed. The wind disturbance can be directly compensated in the control process, such that the trajectory tracking precision and disturbance-rejection capacity can be enhanced simultaneously. Mathematical simulations show that, the proposed control approach possesses better control performances and robustness compared with classical ADRC and PID.