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Dynamic Modeling and Sliding Mode Driving Control for Lunar Rover Slip

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4 Author(s)
Kanfeng Gu ; Shenyang Institute of Automation, Chinese Academy of Science, Shenyang 110016, China; Graduate School of the Chinese Academy of Sciences, Beijing, 100039. ; Yingzi Wei ; Hongguang Wang ; Mingyang Zhao

Slip ratio is the crucial variable of the interaction between wheels and soft road. Based on the definition of the slip ratio of wheels, dynamical model of the lunar rover is established in this paper, which incorporated the terramechanics theory. We calibrated some parameters of soil according to the theory of muti-pass performance of rigid driving wheels. Considering uncertainties of the non-linear model, the sliding mode controller is designed. Simulation results shows that the controller effectively keeps the slip rate of the wheel tracking the desired value and avoids the excessive spin and sink of the driving wheel.

Published in:

Integration Technology, 2007. ICIT '07. IEEE International Conference on

Date of Conference:

20-24 March 2007