Path Following Control of Parafoil System Based on SGLOS and Improved ADRC Tuned by MSMPA

It is unquestionably difficult to achieve precise path-following control for a parafoil system while taking sideslip angle effect into account. To address this challenge and enhance the robustness and flexibility of tracking control, this study presents an improved active disturbance rejection control (IADRC) strategy for parafoil path following based on the surge-guided line-of-sight (SGLOS) guidance law and the multi-strategy marine predator algorithm (MSMPA) optimization. Firstly, a guidance law is designed that simultaneously utilizes surge speed and heading angle for guidance. Then, IADRC is devised to enhance stability by mitigating observational errors from the extended state observer using fal function filters and phase predictions for pre-smoothing sideslip angles as well as abrupt yaw angle fluctuations. Additionally, a controller parameter tuning approach based on the improved MSMPA is proposed. Finally, the simulation results show that this strategy could effectively overcome the influence of wind field disturbances and achieve accurate path following control. Compared with the traditional PID control and linear active disturbance rejection control (LADRC), this method has a higher tracking accuracy and better robustness.