Parafoil trajectory tracking control based on data expansion ADRC

摘要

Based on the background of the parafoil and air-drop robot system in disaster environment, six freedom degrees dynamic model of parafoil was established, combined with the lateral track error method, designed a ADRC parafoil trajectory tracking controller; defined the parameters of the measurement controller precision; to improve the trajectory tracking accuracy of the ADRC parafoil trajectory controller, using the method of the sampled data interpolation expansion, improving the accuracy of the controller operation, thereby increasing the accuracy of the parafoil tracking the setting trajectory, and reducing energy loss of the process of overall trajectory tracking. Finally, the simulation examples illustrate effectiveness and feasibility of the method.