Optimal Path Planning and Tracking Control Methods for Parafoil

Abstract

Due to the problems of flexible parafoil systems that are susceptible to complex disturbances, such as external wind fields and being difficult to control, it is necessary to study the path planning and tracking control methods of parafoil under complex conditions. In this paper, the particle model and dynamic model of the parafoil system are established, and the path planning method based on the original natural (ON) principle coupled with meteorological interference, terrain avoidance, and other environmental models is studied. Sliding mode control is introduced into the path tracking control of the parafoil system, and tracking errors of the parafoil position and velocity are taken as the design criteria for the sliding mode surface. The control law of the sliding mode controller is derived. Through simulation comparison with other path planning and tracking control methods, the methods designed in this paper can reflect better path planning and tracking performance. The methods designed in this paper can effectively suppress the impact of external disturbances, improve accuracy, and enhance robustness.