Accurate Homing of Parafoil Delivery Systems Based Glide-Ratio Control

In this article, the proposed method first evaluates the effects on aerodynamic force caused by flight velocity and angular velocity of the parafoil delivery system and performs an active disturbance rejection control in the horizontal direction. Moreover, a glide-ratio controller is designed based on the characteristics of the symmetrical flap deflection. For resisting its disturbance, a feedforward compensation unit is designed with the glide-ratio controller. The performance is effectively validated through hardware-in-the-loop simulation.