摘要
研究了运行于自然环境、具有小滑移率及小失配角、六轮独立驱动的摇臂式月球车驱动控制问题。针对以月球车车轮滑移率、方向轮失配角为输入及以月球车车体平动速度、转动速度为输出的动力学方程,利用模糊滑模控制方法设计月球车车轮滑移率、方向轮失配角的控制律,实现月球车的跟踪控制。理论分析及仿真结果表明,基于模糊滑模的月球车动力学系统驱动控制方法是可行的,在实际应用中是有效的。
This paper presents a fuzzy sliding-mode-based driving control of lunar rover with six active wheels running in the real world on the condition that small wheel slips and mismatch angle are taken into account. The control law is designed implementing fuzzy sliding mode control for the lunar rover dynamics with wheel slip ratios and mismatch angle as inputs,and the rover's speed and rotational velocity as outputs. Thus, the lunar rover can be servo-controlled using the fuzzy sliding mode control. Theory analysis and simulations show the approach is feasible and effective.
出处
《飞行力学》
CSCD
2004年第2期78-81,共4页
Flight Dynamics
基金
国防基础科研基金资助项目(J1600B001)
关键词
模糊滑模控制
滑移率
月球车
机器人
fuzzy sliding mode control
slip ratio
lunar rover
robot
