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The control of towed-cable-drogue system (TCDS) is important to achieving aerial recovery. In this paper, an adaptive prescribed performance control (APPC) based drogue controller is proposed to control drogue’s position while docking. First, the kinematic and dynamic models of controllable TCDS under multiple airflow disturbances are constructed. Second, the impact of command mutations and sudden disturbances may cause sudden increase of position tracking error and traditional PPC may encounter control singularity. To address the fragility of traditional PPC, an adaptive PPC is proposed. Combined with backstepping controller, the position controller is designed. Finally, the simulation results validate the effectiveness of the proposed method in addressing the control challenges of TCDS under command mutations and sudden disturbances.

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Anti-disturbance Control for Aerial-Recovery Drogue with Flexible Prescribed Performance

  • 会议论文

  • 发表日期：

    2025年

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  • Junfan Zhu,
  • Honglun Wang,
  • Yanxiang Wang,
  • Yiheng Liu

摘要

The control of towed-cable-drogue system (TCDS) is important to achieving aerial recovery. In this paper, an adaptive prescribed performance control (APPC) based drogue controller is proposed to control drogue’s position while docking. First, the kinematic and dynamic models of controllable TCDS under multiple airflow disturbances are constructed. Second, the impact of command mutations and sudden disturbances may cause sudden increase of position tracking error and traditional PPC may encounter control singularity. To address the fragility of traditional PPC, an adaptive PPC is proposed. Combined with backstepping controller, the position controller is designed. Finally, the simulation results validate the effectiveness of the proposed method in addressing the control challenges of TCDS under command mutations and sudden disturbances.