Nonlinear Dynamics

, Volume 86, Issue 3, pp 1461–1476 | Cite as

Active disturbance rejection control (ADRC)-based autonomous homing control of powered parafoils

  • Jin Tao
  • Qinglin Sun
  • Panlong Tan
  • Zengqiang Chen
  • Yingping He
Original Paper


Powered parafoils are a kind of flexible winged vehicle. In order to realize safe and accurate homing of powered parafoils, a multiphase homing trajectory planning scheme is proposed according to their flight characteristics, and a new particle swarm optimization algorithm based on chaos searching (CPSO) is applied as a tool to optimize the designed homing path. Because it is hard to get the satisfied mechanism model, and moreover, there exist lots of disturbances in actual flight environments, traditional control methods cannot ensure the tracking accuracy. Therefore, ADRC controllers are applied to solve such problems. For ADRC, uncertain items of the model and external disturbances are estimated by extended state observer and compensated by real-time dynamic feedback. Simulation results show that the multiphase homing trajectory can fulfill the requirements of fixed-point and upwind landing. The designed ADRC controllers can efficiently overcome the internal and external disturbances and track the desired path rapidly and steadily. Compared with proportion integration differentiation (PID) controllers, ADRC controllers possess better robustness and anti-disturbance ability.


Powered parafoil Multiphase trajectory planning Autonomous homing control Path following Active disturbance rejection control (ADRC) 



We thank the anonymous reviewers for their constructive suggestions to improve this work. This work is supported by National Natural Science Foundation of China under Grant Nos. 61273138, 61573197, National Key Technology R&D Program under Grant No. 2015BAK06B04, Key Fund of Tianjin under Grant No. 14JCZDJC39300 and Key Technologies R&D Program of Tianjin under Grant No. 14ZCZDSF00022.


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Copyright information

© Springer Science+Business Media Dordrecht 2016

Authors and Affiliations

  • Jin Tao
    • 1
    • 2
  • Qinglin Sun
    • 1
    • 2
  • Panlong Tan
    • 1
    • 2
  • Zengqiang Chen
    • 1
    • 2
  • Yingping He
    • 3
  1. 1.Intelligent Robots Key Lab of TianjinNankai UniversityTianjinChina
  2. 2.College of Computer and Control EngineeringNankai UniversityTianjinChina
  3. 3.Aerospace Life-Support Industries Ltd., Aviation Industry Corporation of ChinaXiangyangChina

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