Optimal Path Planning and Tracking Control Methods for Parafoil
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...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-07-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/14/8115 |
| _version_ | 1797590482886328320 |
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| author | Zhihan Li Ying Nan |
| author_facet | Zhihan Li Ying Nan |
| author_sort | Zhihan Li |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-11T01:21:07Z |
| format | Article |
| id | doaj.art-edd24090eb6f4fc49adff53bcc2d2ed9 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-11T01:21:07Z |
| publishDate | 2023-07-01 |
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| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-edd24090eb6f4fc49adff53bcc2d2ed92023-11-18T18:08:25ZengMDPI AGApplied Sciences2076-34172023-07-011314811510.3390/app13148115Optimal Path Planning and Tracking Control Methods for ParafoilZhihan Li0Ying Nan1Academy of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaAcademy of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaDue 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.https://www.mdpi.com/2076-3417/13/14/8115flexible parafoilcomplex conditionspath planningoriginal natural principletracking controlsliding mode control |
| spellingShingle | Zhihan Li Ying Nan Optimal Path Planning and Tracking Control Methods for Parafoil Applied Sciences flexible parafoil complex conditions path planning original natural principle tracking control sliding mode control |
| title | Optimal Path Planning and Tracking Control Methods for Parafoil |
| title_full | Optimal Path Planning and Tracking Control Methods for Parafoil |
| title_fullStr | Optimal Path Planning and Tracking Control Methods for Parafoil |
| title_full_unstemmed | Optimal Path Planning and Tracking Control Methods for Parafoil |
| title_short | Optimal Path Planning and Tracking Control Methods for Parafoil |
| title_sort | optimal path planning and tracking control methods for parafoil |
| topic | flexible parafoil complex conditions path planning original natural principle tracking control sliding mode control |
| url | https://www.mdpi.com/2076-3417/13/14/8115 |
| work_keys_str_mv | AT zhihanli optimalpathplanningandtrackingcontrolmethodsforparafoil AT yingnan optimalpathplanningandtrackingcontrolmethodsforparafoil |