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Fuzzy Adaptive Concerted Driving Control for Lunar Rover with Reduced Tracking Errors

SUN Duoqing^1;2;MA Xiaoying^2;3;YANG Xiaojing¹;YU Baiyin¹;SHAO Xiangyuan¹

1.Department of Mathematics and Physics;Hebei Normal University of Science and Technology;Qinhuangdao 066004;China;2.Institute of Mathematics and Systems Science;Hebei Normal Universityof Science and Technology;Qinhuangdao 066004;China;3.Library;Hebei Normal University ofScience and Technology;Qinhuangdao 066004;China

Received:1900-01-01 Revised:1900-01-01 Online:2008-10-25 Published:2008-10-25

Abstract

Abstract: A novel indirect adaptive fuzzy control scheme is proposed for the concerted driving control of six-wheel lunar rover.Based on the Lyapunov theory,it is proven that the designed scheme not only makes the tracking errors converge to a small neighborhood of the origin,but also reduces the tracking errors through increasing the value of designed parameters,and the control accuracy is improved.Simulation results on the concerted driving control of lunar rover verify the efficiency of the approach proposed.

Key words: lunar rover, adaptive control, fuzzy control, accuracy, nonlinear system

CLC Number:

TP242

SUN Duoqing^1;2;MA Xiaoying^2;3;YANG Xiaojing¹;YU Baiyin¹;SHAO Xiangyuan¹. Fuzzy Adaptive Concerted Driving Control for Lunar Rover with Reduced Tracking Errors[J]., 2008, 34(5): 12-16.

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Fuzzy Adaptive Concerted Driving Control for Lunar Rover with Reduced Tracking Errors

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