Dynamic Modeling and Trajectory Tracking Control of Parafoil System in Wind Environments

Abstract

In this paper, we explore a novel modeling technique to investigate a parafoil flying in wind environments by using computational fluid dynamics. Further, we apply an eight-degree-of-freedom dynamic model of the parafoil in wind environment based on utilizing revised aerodynamic equations. Given that the traditional control methods cannot always tackle trajectory tracking effects properly, we propose an accurate trajectory tracking control method based on active disturbance rejection controller. Semiphysical simulation and airdrop experiments are conducted to evaluate the model as well as the control method. Results demonstrate that the proposed model is effective. Also, active disturbance rejection control outperforms the proportional-integral-derivative (PID) controller regarding the antidisturbance ability and control accuracy.