Dynamic modeling and sliding mode driving control for lunar rover slip
文献类型：会议论文
| 作者 | Gu KF(谷侃锋) ; Wei YZ(魏英姿); Wang HG(王洪光); Zhao MY(赵明扬)
|
| 出版日期 | 2007 |
| 会议名称 | IEEE International Conference on Integration Technology |
| 会议日期 | March 20-24, 2007 |
| 会议地点 | Shenzhen, China |
| 关键词 | lunar rover mobile robot muti-pass sliding erode control slip ratio soft road condition |
| 页码 | 36-41 |
| 通讯作者 | 谷侃锋 |
| 中文摘要 | 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. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robot & Automat Soc, Chinese Univ Hong Kong, Shenzhen Bur Sci, Technol & Informat, CAS Shenzhen Inst Adv Technol, CAS, CUHK Shenzhen Inst Adv Integrat Technol, Assoc Sci & Technol Nanshan Dist, Drawing Informat Ind, Beijing, Co Ltd |
| 会议录 | 2007 IEEE International Conference on Integration Technology, Proceedings
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-1091-0 |
| WOS记录号 | WOS:000250362300007 |
| 源URL | [http://ir.sia.cn/handle/173321/7877]  |
| 专题 | 沈阳自动化研究所_装备制造技术研究室 |
| 推荐引用方式 GB/T 7714 | Gu KF,Wei YZ,Wang HG,et al. Dynamic modeling and sliding mode driving control for lunar rover slip[C]. 见:IEEE International Conference on Integration Technology. Shenzhen, China. March 20-24, 2007. |
入库方式： OAI收割
来源：沈阳自动化研究所
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