Sideslip angle estimation based active disturbance rejection 3D trajectory tracking control for powered parafoil system and hardware-in-the-loop simulation verification

Abstract

The powered parafoil system is a cutting-edge flight vehicle that features a thrust mechanism with a propeller and an airdrop parafoil, providing outstanding benefits like extended flight endurance and elevated load-bearing capacity. However, the powered parafoil is a highly intricate and nonlinear system that relies on two actuators, steering gear, and thrust. Due to its underactuated and coupled characteristics, it presents significant challenges for three-dimensional (3D) trajectory tracking control. To address these issues, including the lack of convergence in lateral tracking error with existing trajectory tracking methods, this paper proposes a novel guidance system that provides both the guided yaw angle and forward velocity, where a reduced-order extended state observer (ESO) is utilized to estimate the sideslip angle. The input-to-state stable (ISS) theory proves the convergence of the guidance system. Furthermore, two linear active disturbance rejection controllers (LADRCs) are employed to decouple the horizontal and vertical control systems and facilitate tracking the horizontal trajectory and altitude. The proposed method is demonstrated through hardware-in-the-loop (HIL) trajectory tracking simulations on 3D straight lines and circular trajectories. Additionally, Monte Carlo simulations validate the robustness of the proposed control system.