Abstract
The motion of a parafoil is characterized by nonlinear dependence of aerodynamic loads on angle of attack. Nonlinear dynamics and non-rigidity of parafoil-payload system causes difficulty in estimating aerodynamic coefficients of the parafoil with respect to angular rates. The present paper addresses the problem of lateral control of a generic 9 degree of freedom parafoil-payload system under small perturbations. A Lyapunov based dynamic adaptive controller is proposed in order to control such a system with known static coefficients and unknown dynamic coefficients. It is demonstrated numerically that the proposed controller is capable of controlling the system without estimating dynamic coefficients (theoretically or experimentally).
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