Research and Application of Multi-Parafoil Six-Degree-of-Freedom Cooperative Control Method Based on Time Consensus

In this paper, based on the six-degree-of-freedom dynamic model of multi-parafoil system, a state variable consensus control method based on time consensus is proposed by using multi-agent cooperative control theory. Through theoretical analysis, the upper bound of control time to ensure the convergence of state variables is determined. Then, the control input is transformed into a general formation control protocol, and the reference motion mode is designed, which provides a feasible scheme for practical application. Finally, numerical simulation experiments are carried out to verify the effectiveness of the proposed method. The results show that the system state variables such as speed and yaw angle can converge to the expected value within the specified time, which meets the coordination requirements of group performance. This study provides a new theoretical basis for the cooperative control of multi-parafoil system, which is helpful to improve the accuracy and coordination of group parafoil performance and lay a foundation for further research.