Model Predictive Control of A Parafoil and Payload System

Abstract

A model predictive control strategy is developed for an autonomous parafoil and payload system. Since the technique requires a linear dynamic model of the system, a reduced state linear model based on a nonlinear 6 degree-of-freedom parafoil and payload model is established and validated. In order to use the reduced state linear model for model predictive control the desired trajectory in the x-y plane is mapped into a desired heading angle using Lagrange interpolating polynomials. Flight test results demonstrate that this model predictive control strategy is a natural and effective method of achieving trajectory tracking in a parafoil and payload system.