Tracking control of parafoil airdrop robot in wind environments

摘要

Because of the remarkable non-linearity, large inertia and strong atmospheric disturbances, traditional control methods cannot ensure the trajectory tracking control performance for a parafoil airdrop robot. In this sense, we propose a trajectory tracking control method based on active disturbance rejection control. Then the proposed control method is evaluated by simulation and airdrop experiment. The results demonstrate that the active disturbance rejection controller has better anti-disturbance ability and control accuracy than the traditional PID controller.