Intelligent Trajectory Tracking Control of Unmanned Parafoil System Based on SAC Optimized LADRC

The unmanned parafoil system has become increasingly popular in a variety of military and civilian applications due to its remarkable carrying capacity, as well as its capacity to modify its flight path by adjusting the left or right paracord. To ensure the unmanned system’s safe completion of its flight mission, precise trajectory tracking control of the parafoil is essential. This paper presents an intelligent trajectory tracking approach that employs a soft actor-critic (SAC) algorithm optimized linear active disturbance rejection control (LADRC). Using the eight-degree-of-freedom (DOF) parafoil model as a basis, we have developed a trajectory tracking guidance law to address the underactuated problem. To ensure that the system’s yaw angle accurately tracks the guided yaw angle, we have designed a second-order LADRC. Additionally, SAC algorithm is used to obtain adaptive parameters for the controller, ultimately enhancing tracking performance. Simulation results show that the proposed method can overcome the wind disturbance and achieve the convergence of tracking errors.