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Adaptive path-following control for parafoil dynamic systems with wind disturbance and rate constraint

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Abstract

This paper investigates a difficult problem of path-following control for parafoil dynamic systems in time-varying wind disturbance. A common representation of a parafoil dynamic system for following straight-line and orbit paths is introduced with the time-varying wind disturbance and modeling uncertainties simultaneously considered. Utilizing the barrier Lyapunov function and backstepping method, an adaptive path-following controller is then developed considering the yaw rate constraint. The closed-loop path-following control system is proved to be asymptotically stable. The key feature of the controller is that it not only ensures the superior capability to attenuate disturbances caused by the time-varying wind and the modeling uncertainties, but also avoids the yaw rate of the parafoil system violating the practical constraint. Experiment tests illustrate the parafoil performance obtained using the proposed path-following controller.

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Data availability

The datasets generated during and/or analyzed during the current study are available from the corresponding author on reasonable request.

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Acknowledgements

This research has been funded by the National Natural Science Foundation of China (No. 62273283) and Industry University Research Innovation Fund in Ministry of Education of China (No. 2021ZYA03006).

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Authors and Affiliations

  1. School of Automation, Northwestern Polytechnical University, Xi’an, 710072, China

    Yiming Guo, Xiaojun Xing, Xiwei Wu, Cihang Wu & Bing Xiao

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  1. Yiming Guo
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  3. Xiwei Wu
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Correspondence to Bing Xiao.

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Guo, Y., Xing, X., Wu, X. et al. Adaptive path-following control for parafoil dynamic systems with wind disturbance and rate constraint. Nonlinear Dyn 111, 13039–13051 (2023). https://doi.org/10.1007/s11071-023-08570-z

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