The lift of the powered parafoil system is determined by the system′s airspeed, making it susceptible to external wind interference and the primary disturbance factor affecting the accuracy of the parafoil′s altitude tracking. To address this issue, an eight-degree-of-freedom model of the powered parafoil was established based on traditional active disturbance rejection control. An improved disturbance compensation controller was designed based on wind field feedforward compensation. The compensation for external wind disturbance was targeted. The altitude tracking control of the parafoil system was achieved. Based on preliminary verification of the controller through simulation experiments, actual flight experiments of the parafoil system were conducted. In the actual flight environment, the control parameters adjusted in the simulation can be directly applied to the actual flight experiments, and the average altitude tracking error of the paraglider system is within 2.5 m, which proving that the designed controller has some practical application value.

In order to explore the key technologies of parafoil systems, including modeling, trajectory planning, and trajectory tracking control, to support their autonomous homing in wide application prospects in large-scale equipment airdrop replenishment, carrier rocket booster recovery, and natural disaster rescue applications. Through research on the development of parafoil systems both domestically and internationally, a comparative analysis and summary of the basic principles, commonly used methods, and cutting-edge technologies of the three key technologies were conducted, with a focus on the flexible modeling technology of parafoil systems in complex environments, trajectory planning technology in obstacle spaces, and trajectory tracking technology based on intelligent control strategies. A summary and outlook were made on the future development trends of key technologies for autonomous homing of parafoil systems, which can help researchers gain a comprehensive understanding of the research progress and development trends in autonomous homing of parafoil systems, and provide inspiration and reference value for further research in this area.