航空学报2026，Vol.47Issue(z1)：32-44,13.DOI:10.7527/S1000-6893.2025.32897
基于模糊PID的多翼伞编队航迹跟踪控制
Trajectory tracking control of multiple parafoil formation based on fuzzy PID
摘要
Abstract
To address the issues of low control accuracy,weak disturbance rejection capability,and poor cooperative stability in trajectory tracking control of multiple parafoil formation,a fuzzy PID-based trajectory tracking control method for multiple parafoil formation is proposed.Firstly,a particle model of the multiple parafoil system is established,and the Dryden turbulence wind field model is introduced.Then,a three-dimensional trajectory tracking control strategy for parafoil formation is constructed.The tracking errors obtained from the reference command and measured output are fuzzified using triangular membership functions,and fuzzy inference is performed based on a predefined rule base.Through defuzzification,precise control gain parameters are obtained.The guidance control system is decoupled into two subsystems:horizontal-plane control and altitude control.The horizontal-plane control takes lateral deviation and heading angle error as inputs and outputs the heading angle command,while the altitude control takes longitudinal de-viation and flight path angle error as inputs and outputs the flight path angle command.Finally,the proposed method is validated on the RflySim simulation platform.Simulation results demonstrate that,compared with the traditional PID control method,the fuzzy PID controller can still maintain a smooth trajectory and small deviations under turbulent wind disturbances,and it improves formation stability by 21.3%.Therefore,the fuzzy PID adaptive control algorithm can ef-fectively suppress the influence of complex external environmental factors on parafoil formation,exhibiting high robust-ness and strong anti-disturbance capability.关键词
多翼伞系统/质点模型/翼伞编队/三维航迹跟踪控制/模糊PID控制Key words
multiple parafoil system/particle model/parafoil formation/three-dimensional trajectory tracking con-trol/fuzzy PID control分类
航空航天引用本文复制引用
陈奇,张畅,张红锦,胡季雨,赵利可..基于模糊PID的多翼伞编队航迹跟踪控制[J].航空学报,2026,47(z1):32-44,13.基金项目
江苏省自动驾驶技术工程中心开放基金(ZK25-06-03) Open Fund of Jiangsu Engineering Center of Autonomous Driving Technology(ZK25-06-03) （ZK25-06-03）
