Based on the characters of parafoil homing trajectory, SerretFrenet frame was used to describe the shortest distance from the current position to the trimming trajectory. Then, using the theory of small disturbance linearization, it showed that the error equations were time invariant. The transform function between the control and the position error could be found from those error equations, and could be used to design the trajectory controller directly. The position errors and velocity errors which are inputs to the trajectory controller could be solved by analytical method, which greatly simplify computation. The effectiveness was testified by the result of example.
熊菁,程文科,秦子增.基于SerretFrenet坐标系的翼伞系统轨迹跟踪控制[J].动力学与控制学报,2005,3(2):87~91; Xiong Jing, Chen Wenke, Qin Zizeng. Pathfollowing of parafoil system based on Serret-Frenet[J]. Journal of Dynamics and Control,2005,3(2):87-91.