In order to achieve the precise and agile homing control of the powered parafoil system, an optimal-multiphase homing methodology is explored in this article. The proposed methodology is composed by a trajectory optimization method based on quantum genetic algorithm and a trajectory tracking method based on an improved active disturbance rejection control (ADRC). First, an improved optimization method combining the optimal and multiphase theory is proposed. The optimized trajectory consists of the simple trajectories, the standard lines and circles, while also satisfying the multiple constraints such as the wind disturbance, terrain avoidance, flared landing, and so on. Then, an improved active disturbance rejection controller is presented. For improving the agility of the system during the path switching and the disturbance rejection ability in windy environment, based on ADRC, a disturbance rejection control algorithm is designed for the horizontal controller of the system. By analyzing the aerodynamic characteristic of the system, the wind disturbance will be compensated previously with a feedforward compensation unit. It will be largely reduce the observation error of the extended state observer, while improving the control effect and the reaction speed. Finally, the hardware-in-the-loop simulation is presented to prove the effectiveness of the proposed methodology. The results show that the optimization method can be achieved successfully and the optimized trajectory can be tracked by the improved ADRC controller precisely and agilely. The landing error is less than 15 m with the proposed homing methodology.
- Active disturbance rejection control
- Feedforward compensation
- Homing control
- Powered parafoil system
- Trajectory optimization