主动悬架星球车移动系统姿态控制研究

Abstract

Abstract: As compared with the passive suspension rover，the active one enhances the motion capabilities on irregular and unknown terrains．Due to the existence of redundantly actuated system of active suspension rovers，the control system is more complex．Base on the low speed of rover movement，the research on attitude control of the active suspension is conducted and a method for stability is proposed．The simulation in the ADAMS and MATLAB illustrates the effectiveness of the method and high stability of the rover movement．

Key words:

font-family:Calibri, sans-serif, "> rover">roverfont-family:宋体, ')">">, passive suspension">passive suspensionfont-family:宋体, ')">">, active suspension">active suspensionfont-family:宋体, ')">">, locomotion">locomotionfont-family:宋体, ')">">,

font-family:Calibri, sans-serif, "> attitude control ')">">attitude control

CLC Number:

V448.2

ZOU Dali, YANG Lei, QU Guangji. Research on the Attitude Control of Active Suspension Rov[J].Aerospace Contrd and Application, 2008, 34(3): 12-16.

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/ / Recommend rover；passive suspension；active suspension；locomotion；

attitude control
”. Please open it by linking:http://journal01.magtech.org.cn/Jwk3_kjkzjs/EN/abstract/abstract9402.shtml" name="neirong"> rover；passive suspension；active suspension；locomotion；

attitude control
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Research on the Attitude Control of Active Suspension Rov

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