Resumen
This paper addresses the challenging problem of predefined-time heading control of a parafoil recovery system (PRS) with internal relative motions and external disturbance. On the basis of the PRS described by a 9-degree-of-freedom model, a simplification and equivalent model is first derived, which is convenient to design control law. Then, a predefined-time disturbance observer is provided to estimate the lumped disturbance caused by internal relative motions and apparent mass. With the application of the disturbance estimation, a predefined-time heading controller is developed for the PRS. The control system is proven to be predefined-time stable by Lyapunov theory. Simulation results illustrate that the proposed method has better control performance than finite-time and PID controllers.