Dynamic Reconfiguration of Cooperative Tasks for Multi-Parafoils Formation under Fault Conditions

ABSTRACT To address the problem of sudden failures during multi-parafoil formation transportation, a new fault formation reconstruction method based on the leader-following algorithm is proposed. First, monitoring of parafoil failures is established using an event-trigger mechanism within a numerical simulation framework. If a parafoil fails, the latest detachment time of a replacement parafoil is calculated based on its glide ratio to determine whether the altitude of the replacement parafoil meets the task reconstruction requirements. If it does, the formation is reconstructed using a switching control law for the replacement parafoil, enabling it to join the formation of the failed parafoil. Then, the leader-following algorithm is applied to reconstruct the formation, allowing the new multi-parafoil system to reorganize and complete the task in an orderly manner, with the replacement parafoil stably reaching the new target point as part of the reconstructed formation. Under this method, high-priority airdrop transportation tasks are ensured to be prioritized in the event of sudden failures during multi-parafoil formation operations. Lyapunov’s theory demonstrates the stability of this method. Simulation results validate the effectiveness of the framework, showing that the algorithm can successfully handle sudden failures of individual parafoils during multi-parafoil formation operations.