Model predictive control of a parafoil and payload system

The use of model predictive control for autonomous control of a parafoil and payload system is discussed. In model predictive control, a dynamic model of the system is used to project the state into the future and subsequently use the estimated future states to determine control action. To support the flight control law, a reduced-state linear model is created that uses roll angle, yaw angle, body roll rate, and body yaw rate of the parafoil and payload system. Three exemplar autonomous flight tests are used to show that model predictive control is an effective way to control autonomously the trajectory of a parafoil and payload system.