Trajectory tracking of powered parafoil based on characteristic model based all-coefficient adaptive

• 作 者: TAN Pan-long SUN Qing-lin JIANG Yu-xin ZHU Er-lin CHEN Zeng-qiang HE Ying-ping
• 机 构: Intelligent Robots Key Lab of Tianjin, College of Computer and Control Engineering, Nankai Universit
• 出 处: 中南大学学报（英文版）
• 发表日期: 2017年5期
• 关键词: powered parafoil (PPF) characteristic model (CM) all-coefficient adaptive contro

One of the primary difficulties in using powered parafoil (PPF) systems is the lack of effective trajectory tracking controllers since the trajectory tracking control is the essential operation for PPF to accomplish autonomous tasks. The characteristic model (CM) based all-coefficient adaptive control (ACAC) designed for PPF systems in horizontal and vertical trajectory control is proposed. The method is easy to use and convenient to adjust and test. Just a few parameters are adapted during the control process. In application, vertical and horizontal CMs are designed and ACAC controllers are constructed to control vertical altitude and horizontal trajectory of PPF based on the proposed CMs, respectively. Result analysis of different simulations shows that the applied ACAC control method is effective for trajectory tracking of the PPF systems and the approach guarantees the transient performance of the PPF systems with better disturbance rejection ability.