Trajectory tracking control of powered parafoil system based on sliding mode control in a complex environment

Abstract

Powered parafoil systems are nonlinear systems that are easily affected by the surrounding complex environment. In this study, an eight-degree-of-freedom (DOF) model of a powered parafoil was established based on the Lagrange equation and dynamic constraints. A control methodology was then designed based on an extended state observer (ESO) and sliding mode control (SMC). By accurately estimating the influences of the complex environment using the ESO, the estimated disturbances could be compensated for in the SMC. Finally, the simulation results showed that this method could effectively overcome the influence of environmental disturbances and achieve accurate trajectory tracking control. Compared with the traditional proportional–integral–derivative (PID) controller and active disturbance rejection control (ADRC), this method has a higher control accuracy and better robustness.