In view of the limitation of its main focus on two-dimensional path track and insufficient research on three-dimensioal track by trajectory tracking of present parafoil system,and with the aim at the 6-DOF model of parafoil system,an auto disturbance rejection control strategy with natural decoupling property is adopted to design a three-dimensional trajectory tracking control method based on bilinear ADRC(B-ADRC).The guidance rate and controller are designed in the horizontal plane and the longitudinal direction to realize the stability of attitude and the tracking of trajectory position,and the real-time correction of trajectory tracking error.In the process of tracking,the ideal trajectory is discretized to obtain a series of reference points,and the complex trajectory is tracked by point switching.The experimental results show that the designed bilinear ADRC controller can track the three-dimensional track and has good robustness and anti-jamming ability.
维普
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