Parafoil path tracking control based on GPC parameters self-correction with interval type-2 fuzzy logic

It was a key technology in a disaster or an emergency situation, that the rescue materials were air-dropped to a set point exactly with the parafoil. With this background, according to the six degrees of freedom dynamic model of parafoil, combined with lateral tracking error the parafoil path tracking control strategy based on Generalized Predictive Control (GPC) was given. In order to improve the parafoil path tracking control precision, the control parameters of the GPC controller were adjusted adaptively in this paper. Thus, an interval type-2 fuzzy logic self-tuning parameters method was proposed. The lateral tracking error and the error variation were the inputs of the fuzzy controller, and the three parameters of the GPC controller were designed as the output. The feasibility, convenience and effectiveness of the proposed method were demonstrated by the experimental results.