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Autonomous Homing Design and Following for Parafoil/Rocket System with High-altitude

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Abstract

This paper addresses a challenging problem to achieve energy-saving autonomous homing to the desired target for a parafoil/rocket system with high-altitude. The system is subject to external unknown crosswind disturbance during the process. A novel optimal multiphase homing algorithm with high-altitude considering constant wind is first presented. To reduce the time-varying wind disturbance, an improved adaptive path-following guidance law is developed. In this method, the arctangent function is extended to a general form, and the convergence rate is improved by replacing the function. Stability and convergence of the guidance law are shown in the sense of Lyapunov. Compared with the existing methods, the proposed homing strategy reduces the energy consumption when the initial altitude is too high, and the tracking errors convergence faster. Numerical simulation is further conducted to demonstrate the effectiveness of the proposed strategy.

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Abbreviations

PRS:

parafoil/rocket system

UAV:

unmanned aerial vehicle

DOF:

degree of freedom

EMC:

energy management circle

UUB:

uniformly ultimately bounded

PSO:

particle swarm optimization

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Funding

Research supported by the National Natural Science Foundation of China (61771399) and the Natural Science Basic Research Program of Shaanxi, China (Program No.2020JM-123).

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Authors and Affiliations

  1. School of Automation, Northwestern Polytechnical University, Xi’an, Shaanxi, 710072, People’s Republic of China

    Yiming Guo, Jianguo Yan, Cihang Wu, Xiwei Wu, Mengping Chen & Xiaojun Xing

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  1. Yiming Guo
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  2. Jianguo Yan
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  3. Cihang Wu
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  4. Xiwei Wu
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  5. Mengping Chen
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  6. Xiaojun Xing
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Contributions

Yiming Guo and Jianguo Yan conceived and designed the study. Cihang Wu and Xiwei Wu improved the research framework. Yiming Guo wrote the paper. Yiming Guo, Jianguo Yan, Cihang Wu, Xiwei Wu, Mengping Chen and Xiaojun Xing reviewed and edited the manuscript. All authors read and approved the manuscript.

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Correspondence to Yiming Guo.

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The authors declare that they have no conflict of interest. And the manuscript is approved by all authors for publication.

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A version of the submitted paper appeared in the Proceedings of the 2020 International Conference on Unmanned Aircraft Systems (ICUAS’20), Athens, Greece [1].

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Guo, Y., Yan, J., Wu, C. et al. Autonomous Homing Design and Following for Parafoil/Rocket System with High-altitude. J Intell Robot Syst 101, 73 (2021). https://doi.org/10.1007/s10846-021-01339-9

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