Autonomous Homing of Parafoil and Payload System Based on ADRC

摘要

A High-glide system, parafoil-based, allows for a safe steady delivery as well as interference penetration. Based on the background of the parafoil and air-drop robot system in disaster environment, the horizontal trajectory tracking is considered to meet the requirement of landing precision. The control scheme includes tracking the setting trajectory, using cross track error algorithm and Active Disturbance Rejection Control (ADRC). First, the position and heading information are obtained according to the six degrees-of-freedom parafoil and payload kinematics model. Then the heading guidance is designed according to cross track error. Finally, the heading controller is devised based on ADRC and control value is saturated to protect the system from peaking in the observer's transient response. The validity of the control algorithm in applying to the trajectory tracking is confirmed in the simulation. The results show that the controller design can achieve high precision on tracking control and has better dynamic performance than PD controller.